2021-08-14T12:58:50.771Z,1628945930.771 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T12:58:50.771Z,1628945930.771 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T12:58:50.771Z,1628945930.771 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T12:58:50.788Z,1628945930.788 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T12:58:51.168Z,1628945931.168 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T12:58:51.168Z,1628945931.168 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T12:58:51.586Z,1628945931.586 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.391056 min 
2021-08-14T12:58:51.586Z,1628945931.586 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T12:58:51.587Z,1628945931.587 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T12:58:51.587Z,1628945931.587 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T12:58:51.587Z,1628945931.587 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T12:58:51.587Z,1628945931.587 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-14T12:58:51.587Z,1628945931.587 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-14T12:58:51.587Z,1628945931.587 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T12:58:51.587Z,1628945931.587 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T12:58:53.627Z,1628945933.627 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125854.00,A,4133.08008,N,07042.40538,W,0.952,3.40,140821,,,A*7A
2021-08-14T12:58:53.629Z,1628945933.629 [NAL9602](INFO): GPS fix at 20210814T125854: (41.551335, -70.706756)
2021-08-14T12:58:53.680Z,1628945933.680 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T12:58:53.680Z,1628945933.680 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T12:58:57.799Z,1628945937.799 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T025720/Courier0018.lzma
2021-08-14T12:58:58.804Z,1628945938.804 [DataOverHttps](INFO): Moved sent file to Logs/20210814T025720/Courier0018.lzma.bak
2021-08-14T12:58:58.805Z,1628945938.805 [DataOverHttps](IMPORTANT): SBD MOMSN=437150, MTMSN=20210814T125858
2021-08-14T12:59:02.820Z,1628945942.820 [DataOverHttps](INFO): Received command:set LineCapture.rolloutSpeed 0.5 meters_per_second
2021-08-14T12:59:05.263Z,1628945945.263 [CommandLine](IMPORTANT): got command set LineCapture.rolloutSpeed 0.500000 meter_per_second
2021-08-14T12:59:05.540Z,1628945945.540 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T125904
2021-08-14T12:59:06.561Z,1628945946.561 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T12:59:09.284Z,1628945949.284 [DataOverHttps](INFO): Sending 260 bytes from file Logs/20210814T125729/Courier0000.lzma
2021-08-14T12:59:09.287Z,1628945949.287 [DataOverHttps](INFO): Received command:set LineCapture.rolloutTimeout 10 minute
2021-08-14T12:59:11.768Z,1628945951.768 [NAL9602](INFO): SBD MO Status=0, MOMSN=23891, MT Status=0, MTMSN=0
2021-08-14T12:59:11.768Z,1628945951.768 [NAL9602](INFO): No messages in MT queue
2021-08-14T12:59:12.204Z,1628945952.204 [CommandLine](IMPORTANT): got command set LineCapture.rolloutTimeout 10.000000 minute
2021-08-14T12:59:12.477Z,1628945952.477 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Courier0000.lzma.bak
2021-08-14T12:59:12.477Z,1628945952.477 [DataOverHttps](INFO): SBD MOMSN=437154
2021-08-14T12:59:21.248Z,1628945961.248 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T125729/Courier0003.lzma
2021-08-14T12:59:22.250Z,1628945962.250 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Courier0003.lzma.bak
2021-08-14T12:59:22.250Z,1628945962.250 [DataOverHttps](INFO): SBD MOMSN=437159
2021-08-14T12:59:32.292Z,1628945972.292 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T125729/Courier0006.lzma
2021-08-14T12:59:33.294Z,1628945973.294 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Courier0006.lzma.bak
2021-08-14T12:59:33.294Z,1628945973.294 [DataOverHttps](INFO): SBD MOMSN=437161
2021-08-14T12:59:42.331Z,1628945982.331 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T125729/Courier0009.lzma
2021-08-14T12:59:42.459Z,1628945982.459 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T12:59:43.334Z,1628945983.334 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Courier0009.lzma.bak
2021-08-14T12:59:43.334Z,1628945983.334 [DataOverHttps](INFO): SBD MOMSN=437163
2021-08-14T12:59:52.372Z,1628945992.372 [DataOverHttps](INFO): Sending 127 bytes from file Logs/20210814T025720/Express0019.lzma
2021-08-14T12:59:53.374Z,1628945993.374 [DataOverHttps](INFO): Moved sent file to Logs/20210814T025720/Express0019.lzma.bak
2021-08-14T12:59:53.374Z,1628945993.374 [DataOverHttps](INFO): SBD MOMSN=437166
2021-08-14T13:00:02.412Z,1628946002.412 [DataOverHttps](INFO): Sending 296 bytes from file Logs/20210814T125729/Express0001.lzma
2021-08-14T13:00:03.414Z,1628946003.414 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0001.lzma.bak
2021-08-14T13:00:03.414Z,1628946003.414 [DataOverHttps](INFO): SBD MOMSN=437170
2021-08-14T13:00:12.452Z,1628946012.452 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210814T125729/Express0004.lzma
2021-08-14T13:00:13.454Z,1628946013.454 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0004.lzma.bak
2021-08-14T13:00:13.454Z,1628946013.454 [DataOverHttps](INFO): SBD MOMSN=437173
2021-08-14T13:00:23.505Z,1628946023.505 [DataOverHttps](INFO): Sending 216 bytes from file Logs/20210814T125729/Express0007.lzma
2021-08-14T13:00:24.506Z,1628946024.506 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0007.lzma.bak
2021-08-14T13:00:24.506Z,1628946024.506 [DataOverHttps](INFO): SBD MOMSN=437175
2021-08-14T13:00:35.556Z,1628946035.556 [DataOverHttps](INFO): Sending 155 bytes from file Logs/20210814T125729/Express0010.lzma
2021-08-14T13:00:36.558Z,1628946036.558 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0010.lzma.bak
2021-08-14T13:00:36.558Z,1628946036.558 [DataOverHttps](INFO): SBD MOMSN=437179
2021-08-14T13:00:38.259Z,1628946038.259 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T13:00:38.259Z,1628946038.259 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T13:00:38.259Z,1628946038.259 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T13:03:03.142Z,1628946183.142 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T130303
2021-08-14T13:03:07.160Z,1628946187.160 [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" 2r5ks 1 2
2021-08-14T13:03:07.197Z,1628946187.197 [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" 2r5ks 1 2.000000
2021-08-14T13:03:07.198Z,1628946187.198 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2r5ks
2021-08-14T13:03:07.199Z,1628946187.199 [CommandLine](IMPORTANT): Scheduled #6 (#1 of 2 with id='2r5ks'): "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
2021-08-14T13:03:08.165Z,1628946188.165 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T130308
2021-08-14T13:03:12.189Z,1628946192.189 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2r5ks 2 2
2021-08-14T13:03:12.214Z,1628946192.214 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2r5ks 2 2.000000
2021-08-14T13:03:12.214Z,1628946192.214 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2r5ks
2021-08-14T13:03:12.215Z,1628946192.215 [CommandLine](IMPORTANT): Scheduled #7 (#2 of 2 with id='2r5ks'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-14T13:03:12.325Z,1628946192.325 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T13:03:12.326Z,1628946192.326 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T13:03:12.436Z,1628946192.436 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-14T13:03:12.438Z,1628946192.438 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-14T13:03:12.441Z,1628946192.441 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-14T13:03:12.474Z,1628946192.474 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-14T13:03:12.483Z,1628946192.483 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-14T13:03:12.492Z,1628946192.492 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-14T13:03:12.517Z,1628946192.517 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-14T13:03:12.519Z,1628946192.519 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-14T13:03:12.546Z,1628946192.546 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-14T13:03:12.564Z,1628946192.564 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-14T13:03:12.567Z,1628946192.567 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-14T13:03:12.573Z,1628946192.573 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-14T13:03:12.584Z,1628946192.584 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-14T13:03:12.586Z,1628946192.586 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-14T13:03:12.593Z,1628946192.593 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-14T13:03:12.594Z,1628946192.594 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-14T13:03:12.904Z,1628946192.904 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-14T13:03:12.906Z,1628946192.906 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-14T13:03:12.908Z,1628946192.908 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-14T13:03:12.910Z,1628946192.910 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-14T13:03:12.913Z,1628946192.913 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-14T13:03:12.915Z,1628946192.915 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-14T13:03:12.917Z,1628946192.917 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-14T13:03:12.920Z,1628946192.920 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-14T13:03:12.922Z,1628946192.922 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-14T13:03:12.973Z,1628946192.973 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-14T13:03:12.975Z,1628946192.975 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-14T13:03:12.982Z,1628946192.982 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-14T13:03:13.004Z,1628946193.004 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-14T13:03:13.006Z,1628946193.006 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-14T13:03:13.026Z,1628946193.026 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-14T13:03:13.032Z,1628946193.032 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-14T13:03:13.035Z,1628946193.035 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-14T13:03:13.042Z,1628946193.042 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-14T13:03:13.049Z,1628946193.049 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-14T13:03:13.056Z,1628946193.056 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-14T13:03:13.058Z,1628946193.058 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-14T13:03:13.065Z,1628946193.065 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-14T13:03:13.067Z,1628946193.067 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-14T13:03:13.075Z,1628946193.075 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-14T13:03:13.082Z,1628946193.082 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-14T13:03:13.089Z,1628946193.089 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-14T13:03:13.091Z,1628946193.091 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-14T13:03:13.095Z,1628946193.095 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-14T13:03:13.109Z,1628946193.109 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-14T13:03:13.116Z,1628946193.116 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-14T13:03:13.118Z,1628946193.118 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-14T13:03:13.123Z,1628946193.123 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-14T13:03:13.134Z,1628946193.134 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-14T13:03:13.141Z,1628946193.141 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-14T13:03:13.148Z,1628946193.148 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-14T13:03:13.150Z,1628946193.150 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-14T13:03:13.157Z,1628946193.157 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-14T13:03:13.164Z,1628946193.164 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-14T13:03:13.167Z,1628946193.167 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-14T13:03:13.177Z,1628946193.177 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-14T13:03:13.187Z,1628946193.187 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-14T13:03:13.205Z,1628946193.205 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-14T13:03:13.212Z,1628946193.212 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-14T13:03:13.214Z,1628946193.214 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-14T13:03:13.219Z,1628946193.219 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-14T13:03:13.237Z,1628946193.237 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-14T13:03:13.240Z,1628946193.240 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-14T13:03:13.242Z,1628946193.242 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-14T13:03:13.247Z,1628946193.247 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-14T13:03:13.258Z,1628946193.258 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-14T13:03:13.272Z,1628946193.272 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-14T13:03:13.275Z,1628946193.275 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-14T13:03:13.282Z,1628946193.282 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-14T13:03:13.288Z,1628946193.288 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-14T13:03:13.291Z,1628946193.291 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-14T13:03:13.299Z,1628946193.299 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-14T13:03:13.306Z,1628946193.306 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-14T13:03:13.313Z,1628946193.313 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-14T13:03:13.319Z,1628946193.319 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-14T13:03:13.378Z,1628946193.378 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-14T13:03:13.384Z,1628946193.384 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-14T13:03:13.387Z,1628946193.387 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-14T13:03:13.394Z,1628946193.394 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-14T13:03:13.400Z,1628946193.400 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-14T13:03:13.439Z,1628946193.439 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T13:03:13.505Z,1628946193.505 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T13:03:13.530Z,1628946193.530 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T13:03:13.557Z,1628946193.557 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T13:03:13.574Z,1628946193.574 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T13:03:13.620Z,1628946193.620 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T13:03:13.656Z,1628946193.656 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T13:03:13.680Z,1628946193.680 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T13:03:13.690Z,1628946193.690 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T13:03:13.723Z,1628946193.723 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T13:03:13.725Z,1628946193.725 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T13:03:13.727Z,1628946193.727 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T13:03:13.777Z,1628946193.777 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T13:03:13.791Z,1628946193.791 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T13:03:13.807Z,1628946193.807 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T13:03:13.841Z,1628946193.841 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-14T13:03:13.918Z,1628946193.918 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-14T13:03:13.925Z,1628946193.925 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-14T13:03:13.927Z,1628946193.927 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-14T13:03:13.934Z,1628946193.934 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-14T13:03:13.940Z,1628946193.940 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-14T13:03:13.943Z,1628946193.943 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-14T13:03:13.947Z,1628946193.947 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-14T13:03:13.970Z,1628946193.970 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T13:03:14.007Z,1628946194.007 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-14T13:03:14.035Z,1628946194.035 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-14T13:03:14.037Z,1628946194.037 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-14T13:03:14.042Z,1628946194.042 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-14T13:03:14.055Z,1628946194.055 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-14T13:03:14.353Z,1628946194.353 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-14T13:03:14.356Z,1628946194.356 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-14T13:03:14.358Z,1628946194.358 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-14T13:03:14.361Z,1628946194.361 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-14T13:03:14.364Z,1628946194.364 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-14T13:03:14.366Z,1628946194.366 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-14T13:03:14.369Z,1628946194.369 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-14T13:03:14.372Z,1628946194.372 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-14T13:03:14.374Z,1628946194.374 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-14T13:03:14.377Z,1628946194.377 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-14T13:03:14.379Z,1628946194.379 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-14T13:03:14.382Z,1628946194.382 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-14T13:03:14.384Z,1628946194.384 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-14T13:03:14.386Z,1628946194.386 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-14T13:03:14.389Z,1628946194.389 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-14T13:03:14.391Z,1628946194.391 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-14T13:03:14.394Z,1628946194.394 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-14T13:03:14.422Z,1628946194.422 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-14T13:03:14.432Z,1628946194.432 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-14T13:03:14.435Z,1628946194.435 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-14T13:03:14.442Z,1628946194.442 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-14T13:03:14.448Z,1628946194.448 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-14T13:03:14.451Z,1628946194.451 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-14T13:03:14.458Z,1628946194.458 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-14T13:03:14.462Z,1628946194.462 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-14T13:03:14.477Z,1628946194.477 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-14T13:03:14.493Z,1628946194.493 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T13:03:14.533Z,1628946194.533 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T13:03:14.535Z,1628946194.535 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T13:03:14.592Z,1628946194.592 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T13:03:14.593Z,1628946194.593 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T13:03:14.611Z,1628946194.611 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T13:03:14.626Z,1628946194.626 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T13:03:14.675Z,1628946194.675 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-14T13:03:14.686Z,1628946194.686 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-14T13:03:14.705Z,1628946194.705 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-14T13:03:14.705Z,1628946194.705 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T13:03:14.755Z,1628946194.755 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-14T13:03:14.762Z,1628946194.762 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-14T13:03:14.771Z,1628946194.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-14T13:03:14.804Z,1628946194.804 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-14T13:03:14.814Z,1628946194.814 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-14T13:03:14.837Z,1628946194.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-14T13:03:14.853Z,1628946194.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-14T13:03:14.870Z,1628946194.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T13:03:14.870Z,1628946194.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T13:03:14.874Z,1628946194.874 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-14T13:03:14.881Z,1628946194.881 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-14T13:03:14.903Z,1628946194.903 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-14T13:03:14.925Z,1628946194.925 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-14T13:03:14.928Z,1628946194.928 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-14T13:03:14.930Z,1628946194.930 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-14T13:03:14.936Z,1628946194.936 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-14T13:03:15.041Z,1628946195.041 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-14T13:03:15.041Z,1628946195.041 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T13:03:15.058Z,1628946195.058 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-14T13:03:15.058Z,1628946195.058 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T13:03:15.114Z,1628946195.114 [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>


2021-08-14T13:03:15.115Z,1628946195.115 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T13:03:28.957Z,1628946208.957 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-14T13:03:28.958Z,1628946208.958 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-14T13:03:28.959Z,1628946208.959 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-14T13:03:28.960Z,1628946208.960 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-14T13:03:35.078Z,1628946215.078 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-14T13:03:35.079Z,1628946215.079 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-14T13:03:35.079Z,1628946215.079 [CommandLine](IMPORTANT): got command run
2021-08-14T13:03:35.081Z,1628946215.081 [CommandLine](IMPORTANT): Running 
2021-08-14T13:03:35.216Z,1628946215.216 [DefaultWithUndock] Stopped
2021-08-14T13:03:35.216Z,1628946215.216 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-14T13:03:35.216Z,1628946215.216 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-14T13:03:35.217Z,1628946215.217 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-14T13:03:35.217Z,1628946215.217 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-14T13:03:35.217Z,1628946215.217 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T13:03:35.217Z,1628946215.217 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T13:03:35.217Z,1628946215.217 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T13:03:35.217Z,1628946215.217 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T13:03:35.217Z,1628946215.217 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T13:03:35.217Z,1628946215.217 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth] Running Loop=1
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-14T13:03:35.218Z,1628946215.218 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-14T13:03:35.219Z,1628946215.219 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T13:03:35.219Z,1628946215.219 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-14T13:03:35.219Z,1628946215.219 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T13:03:35.219Z,1628946215.219 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T13:03:35.219Z,1628946215.219 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T13:03:35.225Z,1628946215.225 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-14T13:03:35.225Z,1628946215.225 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T13:03:35.225Z,1628946215.225 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T13:03:35.225Z,1628946215.225 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T13:03:35.226Z,1628946215.226 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-14T13:03:35.226Z,1628946215.226 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T13:03:35.226Z,1628946215.226 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T13:03:35.226Z,1628946215.226 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T13:03:35.227Z,1628946215.227 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-14T13:03:35.227Z,1628946215.227 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T13:03:35.227Z,1628946215.227 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T13:03:35.227Z,1628946215.227 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T13:03:35.233Z,1628946215.233 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-14T13:03:35.233Z,1628946215.233 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T13:03:35.233Z,1628946215.233 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T13:03:35.233Z,1628946215.233 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T13:03:35.234Z,1628946215.234 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-14T13:03:35.234Z,1628946215.234 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T13:03:35.234Z,1628946215.234 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T13:03:35.234Z,1628946215.234 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T13:03:35.235Z,1628946215.235 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-14T13:03:35.240Z,1628946215.240 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T13:03:35.240Z,1628946215.240 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T13:03:35.240Z,1628946215.240 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T13:03:35.241Z,1628946215.241 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-14T13:03:35.242Z,1628946215.242 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T13:03:35.242Z,1628946215.242 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T13:03:35.242Z,1628946215.242 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T13:03:35.243Z,1628946215.243 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T13:03:35.248Z,1628946215.248 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T13:03:35.248Z,1628946215.248 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T13:03:35.248Z,1628946215.248 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T13:03:35.248Z,1628946215.248 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T13:03:35.248Z,1628946215.248 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T13:03:35.249Z,1628946215.249 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T13:03:35.249Z,1628946215.249 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T13:03:35.249Z,1628946215.249 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:03:35.249Z,1628946215.249 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T13:03:35.249Z,1628946215.249 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T13:03:35.249Z,1628946215.249 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-14T13:03:35.249Z,1628946215.249 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T13:03:35.250Z,1628946215.250 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T13:03:35.250Z,1628946215.250 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T13:03:35.250Z,1628946215.250 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T13:03:35.250Z,1628946215.250 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T13:03:35.250Z,1628946215.250 [lineCaptureDepth:C] Running Loop=1
2021-08-14T13:03:35.256Z,1628946215.256 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T13:03:35.256Z,1628946215.256 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T13:03:35.256Z,1628946215.256 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T13:03:35.256Z,1628946215.256 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T13:03:35.256Z,1628946215.256 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T13:03:35.257Z,1628946215.257 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T13:03:35.257Z,1628946215.257 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T13:03:35.257Z,1628946215.257 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T13:03:35.257Z,1628946215.257 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T13:03:35.257Z,1628946215.257 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:03:35.257Z,1628946215.257 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T13:03:35.258Z,1628946215.258 [lineCaptureDepth:C] Stopped
2021-08-14T13:03:35.260Z,1628946215.260 [lineCaptureDepth:D] Running Loop=1
2021-08-14T13:03:35.260Z,1628946215.260 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T13:03:35.260Z,1628946215.260 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T13:03:35.260Z,1628946215.260 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T13:03:35.261Z,1628946215.261 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T13:03:35.261Z,1628946215.261 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T13:03:35.262Z,1628946215.262 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-14T13:03:35.262Z,1628946215.262 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T13:03:35.262Z,1628946215.262 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T13:03:35.263Z,1628946215.263 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T13:03:35.264Z,1628946215.264 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T13:03:35.265Z,1628946215.265 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-14T13:03:35.266Z,1628946215.266 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T13:03:35.266Z,1628946215.266 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T13:03:35.267Z,1628946215.267 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T13:03:35.267Z,1628946215.267 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-14T13:03:35.272Z,1628946215.272 [lineCaptureDepth:Science:F] Stopped
2021-08-14T13:03:35.272Z,1628946215.272 [lineCaptureDepth:Science:E] Stopped
2021-08-14T13:03:35.272Z,1628946215.272 [lineCaptureDepth:Science:D] Stopped
2021-08-14T13:03:35.272Z,1628946215.272 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T13:03:35.273Z,1628946215.273 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-14T13:03:35.273Z,1628946215.273 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-14T13:03:35.273Z,1628946215.273 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T13:03:35.274Z,1628946215.274 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-14T13:03:35.274Z,1628946215.274 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-14T13:03:35.274Z,1628946215.274 [lineCaptureDepth:Science:A] Stopped
2021-08-14T13:03:35.306Z,1628946215.306 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T13:03:35.594Z,1628946215.594 [lineCaptureDepth:D] Stopped
2021-08-14T13:03:35.594Z,1628946215.594 [lineCaptureDepth:E] Running Loop=1
2021-08-14T13:03:35.989Z,1628946215.989 [lineCaptureDepth:E] Stopped
2021-08-14T13:03:35.989Z,1628946215.989 [lineCaptureDepth:G] Running Loop=1
2021-08-14T13:03:36.426Z,1628946216.426 [lineCaptureDepth:G] Stopped
2021-08-14T13:03:36.427Z,1628946216.427 [lineCaptureDepth:H] Running Loop=1
2021-08-14T13:03:36.822Z,1628946216.822 [lineCaptureDepth:H] Stopped
2021-08-14T13:03:36.822Z,1628946216.822 [lineCaptureDepth:J] Running Loop=1
2021-08-14T13:03:37.206Z,1628946217.206 [lineCaptureDepth:J] Stopped
2021-08-14T13:03:37.206Z,1628946217.206 [lineCaptureDepth:M] Running Loop=1
2021-08-14T13:03:37.613Z,1628946217.613 [lineCaptureDepth:M] Stopped
2021-08-14T13:03:37.613Z,1628946217.613 [lineCaptureDepth:N] Running Loop=1
2021-08-14T13:03:38.012Z,1628946218.012 [lineCaptureDepth:N] Stopped
2021-08-14T13:03:38.012Z,1628946218.012 [lineCaptureDepth:O] Running Loop=1
2021-08-14T13:03:38.013Z,1628946218.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:03:38.325Z,1628946218.325 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-14T13:03:38.393Z,1628946218.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:03:38.394Z,1628946218.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:03:38.394Z,1628946218.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:03:38.395Z,1628946218.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:03:38.503Z,1628946218.503 [lineCaptureDepth:O] Stopped
2021-08-14T13:03:38.503Z,1628946218.503 [lineCaptureDepth:Lap] Running Loop=1
2021-08-14T13:03:38.503Z,1628946218.503 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T13:03:38.503Z,1628946218.503 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T13:03:38.798Z,1628946218.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF6,000,0104D,187,80,80,A4,FF
2021-08-14T13:03:38.798Z,1628946218.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:03:38.798Z,1628946218.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:03:38.800Z,1628946218.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:03:38.918Z,1628946218.918 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T13:03:38.918Z,1628946218.918 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T13:03:38.918Z,1628946218.918 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T13:03:39.230Z,1628946219.230 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T13:03:39.230Z,1628946219.230 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T13:03:39.231Z,1628946219.231 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T13:03:39.232Z,1628946219.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T13:03:39.233Z,1628946219.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T13:03:39.234Z,1628946219.234 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T13:03:39.234Z,1628946219.234 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T13:03:39.234Z,1628946219.234 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T13:03:39.234Z,1628946219.234 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T13:03:39.234Z,1628946219.234 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T13:03:39.235Z,1628946219.235 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T13:03:39.235Z,1628946219.235 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T13:03:39.236Z,1628946219.236 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T13:03:39.236Z,1628946219.236 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T13:03:39.624Z,1628946219.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:03:39.676Z,1628946219.676 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T13:03:39.676Z,1628946219.676 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T13:03:40.034Z,1628946220.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CC,000,00E9F,187,80,80,4C,FF
2021-08-14T13:03:40.035Z,1628946220.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:03:40.038Z,1628946220.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130340.48*57

2021-08-14T13:03:40.052Z,1628946220.052 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T13:03:40.052Z,1628946220.052 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T13:03:40.504Z,1628946220.504 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T13:03:40.505Z,1628946220.505 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T13:03:40.887Z,1628946220.887 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T13:03:40.887Z,1628946220.887 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T13:03:40.904Z,1628946220.904 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T13:03:40.904Z,1628946220.904 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T13:03:40.904Z,1628946220.904 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T13:03:40.904Z,1628946220.904 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T13:03:40.904Z,1628946220.904 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T13:03:40.905Z,1628946220.905 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T13:03:40.905Z,1628946220.905 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T13:03:40.905Z,1628946220.905 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T13:03:40.905Z,1628946220.905 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T13:03:40.905Z,1628946220.905 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T13:03:40.905Z,1628946220.905 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T13:03:40.905Z,1628946220.905 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T13:03:40.906Z,1628946220.906 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T13:03:40.906Z,1628946220.906 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T13:03:40.906Z,1628946220.906 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T13:03:40.906Z,1628946220.906 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T13:03:40.906Z,1628946220.906 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T13:03:40.906Z,1628946220.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T13:03:40.906Z,1628946220.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T13:03:40.907Z,1628946220.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T13:03:40.907Z,1628946220.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T13:03:40.907Z,1628946220.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T13:03:40.907Z,1628946220.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T13:03:40.907Z,1628946220.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T13:03:40.907Z,1628946220.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T13:03:40.907Z,1628946220.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T13:03:41.270Z,1628946221.270 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T13:03:41.271Z,1628946221.271 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T13:03:41.650Z,1628946221.650 [PowerOnly](INFO): Powering up loadControl
2021-08-14T13:03:42.905Z,1628946222.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:03:43.290Z,1628946223.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:03:43.290Z,1628946223.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:03:43.290Z,1628946223.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:03:43.291Z,1628946223.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:03:43.689Z,1628946223.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CC,000,00E9F,187,80,80,4C,FF
2021-08-14T13:03:43.690Z,1628946223.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:03:43.690Z,1628946223.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:03:43.692Z,1628946223.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:03:44.124Z,1628946224.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:03:44.216Z,1628946224.216 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T13:03:44.543Z,1628946224.543 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T13:03:44.913Z,1628946224.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00E9D,187,80,80,21,FF
2021-08-14T13:03:44.914Z,1628946224.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:03:44.941Z,1628946224.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130345.33*5E

2021-08-14T13:03:47.741Z,1628946227.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:03:48.133Z,1628946228.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:03:48.133Z,1628946228.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:03:48.133Z,1628946228.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:03:48.134Z,1628946228.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:03:48.533Z,1628946228.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00E9D,187,80,80,21,FF
2021-08-14T13:03:48.533Z,1628946228.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:03:48.533Z,1628946228.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:03:48.535Z,1628946228.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:03:48.961Z,1628946228.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:03:49.779Z,1628946229.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8A,000,00E9A,189,80,80,78,FF
2021-08-14T13:03:49.779Z,1628946229.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:03:49.784Z,1628946229.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130350.18*53

2021-08-14T13:03:52.615Z,1628946232.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:03:52.977Z,1628946232.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:03:52.977Z,1628946232.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:03:52.978Z,1628946232.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:03:52.978Z,1628946232.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:03:53.393Z,1628946233.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8A,000,00E9A,189,80,80,78,FF
2021-08-14T13:03:53.393Z,1628946233.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:03:53.393Z,1628946233.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:03:53.395Z,1628946233.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:03:53.791Z,1628946233.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:03:54.241Z,1628946234.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,00EA3,187,80,80,78,FF
2021-08-14T13:03:54.242Z,1628946234.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:03:54.622Z,1628946234.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130355.04*5B

2021-08-14T13:03:57.047Z,1628946237.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:03:57.442Z,1628946237.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:03:57.442Z,1628946237.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:03:57.442Z,1628946237.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:03:57.443Z,1628946237.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:03:57.829Z,1628946237.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,00EA3,187,80,80,78,FF
2021-08-14T13:03:57.829Z,1628946237.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:03:57.829Z,1628946237.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:03:57.831Z,1628946237.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:03:58.260Z,1628946238.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:03:59.057Z,1628946239.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00E8B,188,80,80,51,FF
2021-08-14T13:03:59.057Z,1628946239.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:03:59.091Z,1628946239.091 [Micromodem](INFO): Nmea in: $SNTTA,0.123591,,,,130359.47*43

2021-08-14T13:04:01.882Z,1628946241.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:02.274Z,1628946242.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:02.274Z,1628946242.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:02.275Z,1628946242.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:02.276Z,1628946242.276 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:02.684Z,1628946242.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00E8B,188,80,80,51,FF
2021-08-14T13:04:02.685Z,1628946242.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:02.685Z,1628946242.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:02.686Z,1628946242.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:03.086Z,1628946243.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:03.905Z,1628946243.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,00E9A,189,80,80,69,FF
2021-08-14T13:04:03.905Z,1628946243.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:03.909Z,1628946243.909 [Micromodem](INFO): Nmea in: $SNTTA,0.383053,,,,130404.33*4C

2021-08-14T13:04:04.739Z,1628946244.739 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 186.78 m. Transitioning DDM to standby.
2021-08-14T13:04:06.723Z,1628946246.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:07.145Z,1628946247.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:07.145Z,1628946247.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:07.146Z,1628946247.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:07.147Z,1628946247.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:07.210Z,1628946247.210 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T13:04:07.525Z,1628946247.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D06,000,00E9A,189,80,80,69,FF
2021-08-14T13:04:07.525Z,1628946247.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:07.525Z,1628946247.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:07.527Z,1628946247.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:07.642Z,1628946247.642 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T13:04:07.642Z,1628946247.642 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T13:04:07.642Z,1628946247.642 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T13:04:07.918Z,1628946247.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:07.985Z,1628946247.985 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T13:04:07.985Z,1628946247.985 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T13:04:07.985Z,1628946247.985 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T13:04:08.356Z,1628946248.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7B,000,00E9A,189,80,80,69,FF
2021-08-14T13:04:08.358Z,1628946248.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:08.456Z,1628946248.456 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T13:04:08.456Z,1628946248.456 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T13:04:08.456Z,1628946248.456 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T13:04:08.456Z,1628946248.456 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T13:04:08.457Z,1628946248.457 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T13:04:08.738Z,1628946248.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130409.17*57

2021-08-14T13:04:08.781Z,1628946248.781 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T13:04:08.781Z,1628946248.781 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T13:04:08.781Z,1628946248.781 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T13:04:08.781Z,1628946248.781 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T13:04:08.782Z,1628946248.782 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T13:04:08.782Z,1628946248.782 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T13:04:08.782Z,1628946248.782 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T13:04:08.782Z,1628946248.782 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T13:04:08.782Z,1628946248.782 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T13:04:08.783Z,1628946248.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T13:04:08.783Z,1628946248.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T13:04:08.784Z,1628946248.784 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T13:04:08.785Z,1628946248.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T13:04:08.785Z,1628946248.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T13:04:08.786Z,1628946248.786 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T13:04:08.787Z,1628946248.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 186.779999 m 
2021-08-14T13:04:08.787Z,1628946248.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T13:04:08.787Z,1628946248.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T13:04:08.789Z,1628946248.789 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T13:04:08.789Z,1628946248.789 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T13:04:08.789Z,1628946248.789 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T13:04:08.790Z,1628946248.790 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T13:04:09.154Z,1628946249.154 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T13:04:09.155Z,1628946249.155 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T13:04:09.156Z,1628946249.156 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T13:04:09.156Z,1628946249.156 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T13:04:09.156Z,1628946249.156 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T13:04:09.156Z,1628946249.156 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T13:04:09.156Z,1628946249.156 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T13:04:09.157Z,1628946249.157 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T13:04:09.580Z,1628946249.580 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T13:04:09.580Z,1628946249.580 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T13:04:09.581Z,1628946249.581 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T13:04:09.583Z,1628946249.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T13:04:09.583Z,1628946249.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T13:04:09.583Z,1628946249.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T13:04:09.583Z,1628946249.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T13:04:09.583Z,1628946249.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T13:04:09.583Z,1628946249.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T13:04:09.596Z,1628946249.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T13:04:09.596Z,1628946249.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T13:04:09.596Z,1628946249.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T13:04:09.596Z,1628946249.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T13:04:09.596Z,1628946249.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T13:04:09.597Z,1628946249.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T13:04:09.597Z,1628946249.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T13:04:09.598Z,1628946249.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T13:04:09.598Z,1628946249.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T13:04:09.598Z,1628946249.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T13:04:09.598Z,1628946249.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T13:04:09.598Z,1628946249.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T13:04:09.598Z,1628946249.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T13:04:09.599Z,1628946249.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-14T13:04:09.599Z,1628946249.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T13:04:09.604Z,1628946249.604 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T13:04:09.605Z,1628946249.605 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T13:04:09.962Z,1628946249.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.779999 m, bearing: 304.092398 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T13:04:09.963Z,1628946249.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 304.092398deg and heading rate command to 0 deg/s.
2021-08-14T13:04:11.230Z,1628946251.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:11.585Z,1628946251.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:11.585Z,1628946251.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:11.585Z,1628946251.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:11.586Z,1628946251.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:12.006Z,1628946252.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7B,000,00E9A,189,80,80,69,FF
2021-08-14T13:04:12.006Z,1628946252.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:12.006Z,1628946252.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:12.009Z,1628946252.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:12.513Z,1628946252.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:12.921Z,1628946252.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:12.921Z,1628946252.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:13.321Z,1628946253.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130413.65*59

2021-08-14T13:04:13.344Z,1628946253.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.919983 m, bearing: 282.234509 deg, deltaT: 4.510997 s, approachRate: 0.252712 m/s, LOS rate: -4.845468 deg/s, posRepo size: 2
2021-08-14T13:04:13.345Z,1628946253.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -4.845468 deg/s. Setting heading cmd to target bearing of 282.234509deg and heading rate command to 0 deg/s.
2021-08-14T13:04:15.794Z,1628946255.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:16.144Z,1628946256.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:16.145Z,1628946256.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:16.145Z,1628946256.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:16.147Z,1628946256.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:16.546Z,1628946256.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:16.546Z,1628946256.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:16.546Z,1628946256.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:16.548Z,1628946256.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:16.965Z,1628946256.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:17.362Z,1628946257.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:17.362Z,1628946257.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:17.817Z,1628946257.817 [Micromodem](INFO): Nmea in: $SNTTA,0.126045,,,,130418.19*43

2021-08-14T13:04:17.839Z,1628946257.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.919983 m, bearing: 277.587357 deg, deltaT: 4.443491 s, approachRate: 0.000000 m/s, LOS rate: -1.045833 deg/s, posRepo size: 3
2021-08-14T13:04:17.842Z,1628946257.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.919983 m,
      bearing: 277.587357 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.045833 deg/s,
      cmd update: -3.137500 deg/s,
      cmd heading: 282.234509 deg,
      new cmd heading: 282.234509 deg.

2021-08-14T13:04:20.326Z,1628946260.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:20.648Z,1628946260.648 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:20.649Z,1628946260.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:20.649Z,1628946260.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:20.650Z,1628946260.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:21.037Z,1628946261.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:21.037Z,1628946261.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:21.037Z,1628946261.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:21.039Z,1628946261.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:21.449Z,1628946261.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:21.854Z,1628946261.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:21.854Z,1628946261.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:22.301Z,1628946262.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130422.68*56

2021-08-14T13:04:22.362Z,1628946262.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.919983 m, bearing: 278.540633 deg, deltaT: 4.513693 s, approachRate: 0.000000 m/s, LOS rate: 0.211196 deg/s, posRepo size: 4
2021-08-14T13:04:22.365Z,1628946262.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.919983 m,
      bearing: 278.540633 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.211196 deg/s,
      cmd update: 0.633589 deg/s,
      cmd heading: 268.005778 deg,
      new cmd heading: 266.617626 deg.

2021-08-14T13:04:24.719Z,1628946264.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:25.089Z,1628946265.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:25.089Z,1628946265.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:25.089Z,1628946265.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:25.090Z,1628946265.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:25.505Z,1628946265.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:25.505Z,1628946265.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:25.505Z,1628946265.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:25.507Z,1628946265.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:25.944Z,1628946265.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:26.334Z,1628946266.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D23,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:26.334Z,1628946266.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:26.794Z,1628946266.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130427.15*59

2021-08-14T13:04:26.843Z,1628946266.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.919983 m, bearing: 293.295426 deg, deltaT: 4.485358 s, approachRate: 0.000000 m/s, LOS rate: 3.289546 deg/s, posRepo size: 4
2021-08-14T13:04:26.845Z,1628946266.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.919983 m,
      bearing: 293.295426 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.289546 deg/s,
      cmd update: 9.868639 deg/s,
      cmd heading: 270.850065 deg,
      new cmd heading: 271.124755 deg.

2021-08-14T13:04:29.199Z,1628946269.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:29.562Z,1628946269.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:29.563Z,1628946269.563 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:29.563Z,1628946269.563 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:29.564Z,1628946269.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:29.981Z,1628946269.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D23,000,00EAD,189,80,80,55,FF
2021-08-14T13:04:29.981Z,1628946269.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:29.981Z,1628946269.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:29.983Z,1628946269.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:30.497Z,1628946270.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:31.302Z,1628946271.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130431.70*5D

2021-08-14T13:04:31.723Z,1628946271.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:33.713Z,1628946273.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,55,FF
2021-08-14T13:04:33.713Z,1628946273.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,55,FF
2021-08-14T13:04:33.713Z,1628946273.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:04:34.597Z,1628946274.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:34.920Z,1628946274.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:34.920Z,1628946274.920 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:34.921Z,1628946274.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:34.921Z,1628946274.921 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:35.322Z,1628946275.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,55,FF
2021-08-14T13:04:35.322Z,1628946275.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:35.322Z,1628946275.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:35.324Z,1628946275.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:35.807Z,1628946275.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:36.249Z,1628946276.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B57,000,00E76,189,80,80,6A,FF
2021-08-14T13:04:36.249Z,1628946276.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:36.289Z,1628946276.289 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T13:04:36.294Z,1628946276.294 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:04:36.705Z,1628946276.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130436.97*53

2021-08-14T13:04:36.727Z,1628946276.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.620010 m, bearing: 344.923242 deg, deltaT: 9.952277 s, approachRate: -0.331580 m/s, LOS rate: 5.187538 deg/s, posRepo size: 4
2021-08-14T13:04:36.754Z,1628946276.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.620010 m,
      bearing: 344.923242 deg,
      approachRate: -0.331580 m/s,
      LOS rate: 5.187538 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 8.961015 deg,
      new cmd heading: 12.679775 deg.

2021-08-14T13:04:39.135Z,1628946279.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:39.521Z,1628946279.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:39.521Z,1628946279.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:39.521Z,1628946279.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:39.522Z,1628946279.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:39.917Z,1628946279.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B57,000,00E76,189,80,80,6A,FF
2021-08-14T13:04:39.917Z,1628946279.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:39.917Z,1628946279.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:39.919Z,1628946279.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:40.349Z,1628946280.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:40.750Z,1628946280.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C45,000,00E76,189,80,80,6A,FF
2021-08-14T13:04:40.750Z,1628946280.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:41.180Z,1628946281.180 [Micromodem](INFO): Nmea in: $SNTTA,0.125059,,,,130441.56*4A

2021-08-14T13:04:41.245Z,1628946281.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.620010 m, bearing: 343.819729 deg, deltaT: 4.418776 s, approachRate: 0.000000 m/s, LOS rate: -0.249733 deg/s, posRepo size: 4
2021-08-14T13:04:41.247Z,1628946281.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.620010 m,
      bearing: 343.819729 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.249733 deg/s,
      cmd update: -0.749198 deg/s,
      cmd heading: 62.043784 deg,
      new cmd heading: 67.691848 deg.

2021-08-14T13:04:43.595Z,1628946283.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:43.969Z,1628946283.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:43.969Z,1628946283.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:43.970Z,1628946283.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:43.971Z,1628946283.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:44.378Z,1628946284.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C45,000,00E76,189,80,80,6A,FF
2021-08-14T13:04:44.378Z,1628946284.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:44.378Z,1628946284.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:44.380Z,1628946284.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:44.861Z,1628946284.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:45.266Z,1628946285.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE4,000,00E5E,189,80,80,3F,FF
2021-08-14T13:04:45.267Z,1628946285.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:45.681Z,1628946285.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130446.02*58

2021-08-14T13:04:45.707Z,1628946285.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.180008 m, bearing: 351.100656 deg, deltaT: 4.558283 s, approachRate: -0.315909 m/s, LOS rate: 1.597296 deg/s, posRepo size: 4
2021-08-14T13:04:45.710Z,1628946285.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.180008 m,
      bearing: 351.100656 deg,
      approachRate: -0.315909 m/s,
      LOS rate: 1.597296 deg/s,
      cmd update: 4.791888 deg/s,
      cmd heading: 58.656463 deg,
      new cmd heading: 58.347805 deg.

2021-08-14T13:04:48.105Z,1628946288.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:48.482Z,1628946288.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:48.482Z,1628946288.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:48.483Z,1628946288.483 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:48.484Z,1628946288.484 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:48.945Z,1628946288.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE4,000,00E5E,189,80,80,3F,FF
2021-08-14T13:04:48.945Z,1628946288.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:48.945Z,1628946288.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:48.947Z,1628946288.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:49.367Z,1628946289.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:49.754Z,1628946289.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00E5E,189,80,80,3F,FF
2021-08-14T13:04:49.754Z,1628946289.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:50.221Z,1628946290.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130450.59*51

2021-08-14T13:04:50.286Z,1628946290.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.180008 m, bearing: 343.317519 deg, deltaT: 4.473201 s, approachRate: 0.000000 m/s, LOS rate: -1.739948 deg/s, posRepo size: 4
2021-08-14T13:04:50.308Z,1628946290.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.180008 m,
      bearing: 343.317519 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.739948 deg/s,
      cmd update: -5.219844 deg/s,
      cmd heading: 80.254000 deg,
      new cmd heading: 82.570030 deg.

2021-08-14T13:04:52.619Z,1628946292.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:52.987Z,1628946292.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:52.988Z,1628946292.988 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:52.989Z,1628946292.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:52.990Z,1628946292.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:53.410Z,1628946293.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00E5E,189,80,80,3F,FF
2021-08-14T13:04:53.410Z,1628946293.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:53.411Z,1628946293.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:53.414Z,1628946293.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:53.799Z,1628946293.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:54.249Z,1628946294.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00E08,186,80,80,3F,FF
2021-08-14T13:04:54.250Z,1628946294.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:54.629Z,1628946294.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130455.06*5E

2021-08-14T13:04:54.682Z,1628946294.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.020004 m, bearing: 344.106788 deg, deltaT: 4.545639 s, approachRate: -1.135155 m/s, LOS rate: 0.173632 deg/s, posRepo size: 4
2021-08-14T13:04:54.689Z,1628946294.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.020004 m,
      bearing: 344.106788 deg,
      approachRate: -1.135155 m/s,
      LOS rate: 0.173632 deg/s,
      cmd update: 0.520897 deg/s,
      cmd heading: 56.530081 deg,
      new cmd heading: 54.781720 deg.

2021-08-14T13:04:57.142Z,1628946297.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:04:57.434Z,1628946297.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:04:57.434Z,1628946297.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:04:57.434Z,1628946297.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:04:57.435Z,1628946297.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:04:57.846Z,1628946297.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00E08,186,80,80,3F,FF
2021-08-14T13:04:57.846Z,1628946297.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:04:57.846Z,1628946297.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:04:57.848Z,1628946297.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:04:58.279Z,1628946298.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:04:59.066Z,1628946299.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00DD1,189,80,80,AC,FF
2021-08-14T13:04:59.067Z,1628946299.067 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:04:59.075Z,1628946299.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130459.49*59

2021-08-14T13:04:59.538Z,1628946299.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.720001 m, bearing: 338.086168 deg, deltaT: 4.777783 s, approachRate: -0.690698 m/s, LOS rate: -1.260128 deg/s, posRepo size: 4
2021-08-14T13:04:59.544Z,1628946299.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.720001 m,
      bearing: 338.086168 deg,
      approachRate: -0.690698 m/s,
      LOS rate: -1.260128 deg/s,
      cmd update: -3.780385 deg/s,
      cmd heading: 59.021800 deg,
      new cmd heading: 59.233800 deg.

2021-08-14T13:05:01.921Z,1628946301.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:02.277Z,1628946302.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:02.277Z,1628946302.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:02.277Z,1628946302.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:02.278Z,1628946302.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:02.681Z,1628946302.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00DD1,189,80,80,AC,FF
2021-08-14T13:05:02.681Z,1628946302.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:02.682Z,1628946302.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:02.683Z,1628946302.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:03.096Z,1628946303.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:03.498Z,1628946303.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46C,000,00DD1,189,80,80,AC,FF
2021-08-14T13:05:03.498Z,1628946303.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:03.942Z,1628946303.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130504.33*5D

2021-08-14T13:05:03.978Z,1628946303.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.720001 m, bearing: 336.315427 deg, deltaT: 4.412678 s, approachRate: 0.000000 m/s, LOS rate: -0.401285 deg/s, posRepo size: 4
2021-08-14T13:05:03.980Z,1628946303.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.720001 m,
      bearing: 336.315427 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.401285 deg/s,
      cmd update: -1.203854 deg/s,
      cmd heading: 42.340002 deg,
      new cmd heading: 40.698759 deg.

2021-08-14T13:05:06.411Z,1628946306.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:06.721Z,1628946306.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:06.721Z,1628946306.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:06.721Z,1628946306.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:06.722Z,1628946306.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:07.125Z,1628946307.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46C,000,00DD1,189,80,80,AC,FF
2021-08-14T13:05:07.125Z,1628946307.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:07.125Z,1628946307.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:07.127Z,1628946307.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:07.538Z,1628946307.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:07.934Z,1628946307.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DD1,189,80,80,AC,FF
2021-08-14T13:05:07.934Z,1628946307.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:08.377Z,1628946308.377 [Micromodem](INFO): Nmea in: $SNTTA,0.121792,,,,130508.77*41

2021-08-14T13:05:08.456Z,1628946308.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.720001 m, bearing: 346.723734 deg, deltaT: 4.456243 s, approachRate: 0.000000 m/s, LOS rate: 2.335669 deg/s, posRepo size: 4
2021-08-14T13:05:08.458Z,1628946308.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.720001 m,
      bearing: 346.723734 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.335669 deg/s,
      cmd update: 7.007006 deg/s,
      cmd heading: 36.984471 deg,
      new cmd heading: 36.431221 deg.

2021-08-14T13:05:10.832Z,1628946310.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:11.165Z,1628946311.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:11.165Z,1628946311.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:11.165Z,1628946311.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:11.166Z,1628946311.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:11.584Z,1628946311.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DD1,189,80,80,AC,FF
2021-08-14T13:05:11.585Z,1628946311.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:11.586Z,1628946311.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:11.589Z,1628946311.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:11.977Z,1628946311.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:12.388Z,1628946312.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DD1,189,80,80,AC,FF
2021-08-14T13:05:12.389Z,1628946312.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:12.829Z,1628946312.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130513.23*5A

2021-08-14T13:05:12.886Z,1628946312.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.720001 m, bearing: 351.744005 deg, deltaT: 4.458260 s, approachRate: 0.000000 m/s, LOS rate: 1.126061 deg/s, posRepo size: 4
2021-08-14T13:05:12.889Z,1628946312.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.720001 m,
      bearing: 351.744005 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.126061 deg/s,
      cmd update: 3.378182 deg/s,
      cmd heading: 68.277261 deg,
      new cmd heading: 71.265728 deg.

2021-08-14T13:05:13.202Z,1628946313.202 [PowerOnly](INFO): Powering down loadControl
2021-08-14T13:05:15.238Z,1628946315.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:15.609Z,1628946315.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:15.609Z,1628946315.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:15.610Z,1628946315.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:15.611Z,1628946315.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:16.025Z,1628946316.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DD1,189,80,80,AC,FF
2021-08-14T13:05:16.025Z,1628946316.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:16.025Z,1628946316.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:16.027Z,1628946316.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:16.069Z,1628946316.069 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:05:16.465Z,1628946316.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:16.874Z,1628946316.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,00D98,189,80,80,84,FF
2021-08-14T13:05:16.874Z,1628946316.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:17.293Z,1628946317.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130517.67*5E

2021-08-14T13:05:17.315Z,1628946317.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.300003 m, bearing: 90.490110 deg, deltaT: 4.481672 s, approachRate: -0.763108 m/s, LOS rate: 22.033319 deg/s, posRepo size: 4
2021-08-14T13:05:17.337Z,1628946317.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.033319 deg/s. Setting heading cmd to target bearing of 90.490110deg and heading rate command to 0 deg/s.
2021-08-14T13:05:19.712Z,1628946319.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:20.093Z,1628946320.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:20.093Z,1628946320.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:20.093Z,1628946320.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:20.094Z,1628946320.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:20.493Z,1628946320.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,00D98,189,80,80,84,FF
2021-08-14T13:05:20.493Z,1628946320.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:20.494Z,1628946320.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:20.495Z,1628946320.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:20.926Z,1628946320.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:21.306Z,1628946321.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D98,189,80,80,84,FF
2021-08-14T13:05:21.306Z,1628946321.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:21.749Z,1628946321.749 [Micromodem](INFO): Nmea in: $SNTTA,0.115846,,,,130522.14*4D

2021-08-14T13:05:21.863Z,1628946321.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.300003 m, bearing: 3.790772 deg, deltaT: 4.413210 s, approachRate: 0.000000 m/s, LOS rate: -19.645415 deg/s, posRepo size: 4
2021-08-14T13:05:21.863Z,1628946321.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.645415 deg/s. Setting heading cmd to target bearing of 3.790772deg and heading rate command to 0 deg/s.
2021-08-14T13:05:24.261Z,1628946324.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:24.543Z,1628946324.543 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:24.543Z,1628946324.543 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:24.543Z,1628946324.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:24.544Z,1628946324.544 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:24.941Z,1628946324.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D98,189,80,80,84,FF
2021-08-14T13:05:24.941Z,1628946324.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:24.941Z,1628946324.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:24.943Z,1628946324.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:25.376Z,1628946325.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:25.778Z,1628946325.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,00D9D,186,80,80,84,FF
2021-08-14T13:05:25.779Z,1628946325.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:26.285Z,1628946326.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130526.59*51

2021-08-14T13:05:26.387Z,1628946326.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.600006 m, bearing: 65.862408 deg, deltaT: 4.608914 s, approachRate: 0.065092 m/s, LOS rate: 13.467736 deg/s, posRepo size: 4
2021-08-14T13:05:26.388Z,1628946326.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.467736 deg/s. Setting heading cmd to target bearing of 65.862408deg and heading rate command to 0 deg/s.
2021-08-14T13:05:28.643Z,1628946328.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:29.009Z,1628946329.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:29.009Z,1628946329.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:29.009Z,1628946329.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:29.010Z,1628946329.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:29.417Z,1628946329.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,00D9D,186,80,80,84,FF
2021-08-14T13:05:29.417Z,1628946329.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:29.417Z,1628946329.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:29.419Z,1628946329.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:29.852Z,1628946329.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:30.686Z,1628946330.686 [Micromodem](INFO): Nmea in: $SNTTA,0.131859,,,,130531.06*44

2021-08-14T13:05:31.526Z,1628946331.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:33.085Z,1628946333.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,84,FF
2021-08-14T13:05:33.085Z,1628946333.085 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,84,FF
2021-08-14T13:05:33.086Z,1628946333.086 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:05:34.393Z,1628946334.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:34.725Z,1628946334.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:34.725Z,1628946334.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:34.725Z,1628946334.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:34.726Z,1628946334.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:35.145Z,1628946335.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,84,FF
2021-08-14T13:05:35.145Z,1628946335.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:35.146Z,1628946335.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:35.147Z,1628946335.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:35.549Z,1628946335.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:35.986Z,1628946335.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00DB6,186,80,80,84,FF
2021-08-14T13:05:35.986Z,1628946335.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:36.391Z,1628946336.391 [Micromodem](INFO): Nmea in: $SNTTA,0.117721,,,,130536.79*4F

2021-08-14T13:05:36.489Z,1628946336.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.100006 m, bearing: 75.788237 deg, deltaT: 10.068833 s, approachRate: 0.148975 m/s, LOS rate: 0.985797 deg/s, posRepo size: 4
2021-08-14T13:05:36.491Z,1628946336.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 75.788237 deg,
      approachRate: 0.148975 m/s,
      LOS rate: 0.985797 deg/s,
      cmd update: 2.957392 deg/s,
      cmd heading: 65.862408 deg,
      new cmd heading: 65.862408 deg.

2021-08-14T13:05:38.026Z,1628946338.026 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T13:05:38.026Z,1628946338.026 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T13:05:38.027Z,1628946338.027 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T13:05:38.028Z,1628946338.028 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:05:38.033Z,1628946338.033 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T13:05:38.033Z,1628946338.033 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T13:05:38.042Z,1628946338.042 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T13:05:38.530Z,1628946338.530 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T13:05:38.530Z,1628946338.530 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T13:05:38.530Z,1628946338.530 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T13:05:38.530Z,1628946338.530 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:05:38.530Z,1628946338.530 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T13:05:38.918Z,1628946338.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:39.261Z,1628946339.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:39.261Z,1628946339.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:39.261Z,1628946339.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:39.262Z,1628946339.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:39.682Z,1628946339.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00DB6,186,80,80,84,FF
2021-08-14T13:05:39.682Z,1628946339.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:39.682Z,1628946339.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:39.712Z,1628946339.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:40.073Z,1628946340.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:40.569Z,1628946340.569 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (4 active estimators).
2021-08-14T13:05:40.886Z,1628946340.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DC0,18A,80,80,7B,FF
2021-08-14T13:05:40.887Z,1628946340.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:40.901Z,1628946340.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130541.35*5A

2021-08-14T13:05:41.344Z,1628946341.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.699997 m, bearing: 359.772647 deg, deltaT: 4.949818 s, approachRate: 0.121215 m/s, LOS rate: -15.357250 deg/s, posRepo size: 4
2021-08-14T13:05:41.345Z,1628946341.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.357250 deg/s. Setting heading cmd to target bearing of 359.772647deg and heading rate command to 0 deg/s.
2021-08-14T13:05:43.791Z,1628946343.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:44.142Z,1628946344.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:44.142Z,1628946344.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:44.143Z,1628946344.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:44.144Z,1628946344.144 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:44.521Z,1628946344.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DC0,18A,80,80,7B,FF
2021-08-14T13:05:44.521Z,1628946344.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:44.522Z,1628946344.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:44.524Z,1628946344.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:44.932Z,1628946344.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:45.757Z,1628946345.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,00DCC,187,80,80,8E,FF
2021-08-14T13:05:45.758Z,1628946345.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:05:45.761Z,1628946345.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130546.17*5D

2021-08-14T13:05:46.250Z,1628946346.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.419998 m, bearing: 48.693266 deg, deltaT: 4.798602 s, approachRate: 0.150044 m/s, LOS rate: 10.194765 deg/s, posRepo size: 4
2021-08-14T13:05:46.253Z,1628946346.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.419998 m,
      bearing: 48.693266 deg,
      approachRate: 0.150044 m/s,
      LOS rate: 10.194765 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 359.772647 deg,
      new cmd heading: 359.772647 deg.

2021-08-14T13:05:48.558Z,1628946348.558 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:05:48.630Z,1628946348.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:48.961Z,1628946348.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:48.962Z,1628946348.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:48.962Z,1628946348.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:48.963Z,1628946348.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:49.368Z,1628946349.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,00DCC,187,80,80,8E,FF
2021-08-14T13:05:49.369Z,1628946349.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:49.369Z,1628946349.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:49.371Z,1628946349.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:49.764Z,1628946349.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:50.212Z,1628946350.212 [Micromodem](INFO): Nmea in: $SNTTA,0.295657,0.295426,,,130551.02*5B

2021-08-14T13:05:51.409Z,1628946351.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:52.997Z,1628946352.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,8E,FF
2021-08-14T13:05:52.997Z,1628946352.997 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,8E,FF
2021-08-14T13:05:52.997Z,1628946352.997 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:05:54.331Z,1628946354.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:54.620Z,1628946354.620 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:05:54.620Z,1628946354.620 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:05:54.620Z,1628946354.620 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:05:54.621Z,1628946354.621 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:05:55.017Z,1628946355.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,8E,FF
2021-08-14T13:05:55.017Z,1628946355.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:05:55.017Z,1628946355.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:05:55.019Z,1628946355.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:05:55.421Z,1628946355.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:05:55.842Z,1628946355.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,00D
C,187,80,80,8E,FF
2021-08-14T13:05:55.842Z,1628946355.842 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D67,000,00D
C,187,80,80,8E,FF
2021-08-14T13:05:56.267Z,1628946356.267 [Micromodem](INFO): Nmea in: $SNTTA,0.118566,,,,130556.66*49

2021-08-14T13:05:57.131Z,1628946357.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:05:59.879Z,1628946359.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:00.684Z,1628946360.684 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.062817
2021-08-14T13:06:02.718Z,1628946362.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:03.121Z,1628946363.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:03.121Z,1628946363.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:03.121Z,1628946363.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:03.122Z,1628946363.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:03.501Z,1628946363.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,00D
C,187,80,80,8E,FF
2021-08-14T13:06:03.501Z,1628946363.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:03.501Z,1628946363.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:03.503Z,1628946363.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:03.913Z,1628946363.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:04.306Z,1628946364.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD7,000,00D
C,187,80,80,8E,FF
2021-08-14T13:06:04.306Z,1628946364.306 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FD7,000,00D
C,187,80,80,8E,FF
2021-08-14T13:06:04.743Z,1628946364.743 [Micromodem](INFO): Nmea in: $SNTTA,0.229619,,,,130605.15*42

2021-08-14T13:06:05.543Z,1628946365.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:08.434Z,1628946368.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:09.167Z,1628946369.167 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.044653
2021-08-14T13:06:11.219Z,1628946371.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:11.581Z,1628946371.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:11.581Z,1628946371.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:11.581Z,1628946371.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:11.582Z,1628946371.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:11.987Z,1628946371.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD7,000,00D
C,187,80,80,8E,FF
2021-08-14T13:06:11.987Z,1628946371.987 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:11.987Z,1628946371.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:11.989Z,1628946371.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:12.397Z,1628946372.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:12.798Z,1628946372.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAD,000,00D
C,187,80,80,8E,FF
2021-08-14T13:06:12.799Z,1628946372.799 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,DAD,000,00D
C,187,80,80,8E,FF
2021-08-14T13:06:13.226Z,1628946373.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130613.63*5D

2021-08-14T13:06:14.027Z,1628946374.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:16.887Z,1628946376.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:17.656Z,1628946377.656 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073949
2021-08-14T13:06:19.697Z,1628946379.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:20.068Z,1628946380.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:20.069Z,1628946380.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:20.069Z,1628946380.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:20.071Z,1628946380.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:20.477Z,1628946380.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAD,000,00D
C,187,80,80,8E,FF
2021-08-14T13:06:20.477Z,1628946380.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:20.477Z,1628946380.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:20.479Z,1628946380.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:20.878Z,1628946380.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:21.700Z,1628946381.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,00E3E,186,80,80,A4,FF
2021-08-14T13:06:21.701Z,1628946381.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:06:21.704Z,1628946381.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130622.12*59

2021-08-14T13:06:22.217Z,1628946382.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 57.993729 deg, deltaT: 35.940462 s, approachRate: 0.190315 m/s, LOS rate: 0.258774 deg/s, posRepo size: 4
2021-08-14T13:06:22.219Z,1628946382.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 57.993729 deg,
      approachRate: 0.190315 m/s,
      LOS rate: 0.258774 deg/s,
      cmd update: 0.776323 deg/s,
      cmd heading: 71.096868 deg,
      new cmd heading: 76.964820 deg.

2021-08-14T13:06:24.563Z,1628946384.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:24.925Z,1628946384.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:24.925Z,1628946384.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:24.925Z,1628946384.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:24.926Z,1628946384.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:25.325Z,1628946385.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,00E3E,186,80,80,A4,FF
2021-08-14T13:06:25.325Z,1628946385.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:25.326Z,1628946385.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:25.327Z,1628946385.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:25.728Z,1628946385.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:26.153Z,1628946386.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00E3E,186,80,80,A4,FF
2021-08-14T13:06:26.155Z,1628946386.155 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:06:26.586Z,1628946386.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130626.97*50

2021-08-14T13:06:26.608Z,1628946386.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 356.137074 deg, deltaT: 4.558178 s, approachRate: 0.000000 m/s, LOS rate: -13.570481 deg/s, posRepo size: 4
2021-08-14T13:06:26.609Z,1628946386.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.570481 deg/s. Setting heading cmd to target bearing of 356.137074deg and heading rate command to 0 deg/s.
2021-08-14T13:06:29.052Z,1628946389.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:29.373Z,1628946389.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:29.373Z,1628946389.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:29.374Z,1628946389.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:29.375Z,1628946389.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:29.783Z,1628946389.783 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00E3E,186,80,80,A4,FF
2021-08-14T13:06:29.783Z,1628946389.783 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:29.783Z,1628946389.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:29.786Z,1628946389.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:30.233Z,1628946390.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:31.034Z,1628946391.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,00E46,186,80,80,8F,FF
2021-08-14T13:06:31.035Z,1628946391.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:06:31.041Z,1628946391.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130631.43*5F

2021-08-14T13:06:31.430Z,1628946391.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.740005 m, bearing: 49.690019 deg, deltaT: 4.817520 s, approachRate: 0.099635 m/s, LOS rate: 11.116287 deg/s, posRepo size: 4
2021-08-14T13:06:31.457Z,1628946391.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.740005 m,
      bearing: 49.690019 deg,
      approachRate: 0.099635 m/s,
      LOS rate: 11.116287 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.137074 deg,
      new cmd heading: 356.137074 deg.

2021-08-14T13:06:33.827Z,1628946393.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:34.045Z,1628946394.045 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.275284
2021-08-14T13:06:34.233Z,1628946394.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:34.233Z,1628946394.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:34.233Z,1628946394.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:34.234Z,1628946394.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:34.333Z,1628946394.333 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T13:06:34.333Z,1628946394.333 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T13:06:34.333Z,1628946394.333 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T13:06:34.333Z,1628946394.333 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:06:34.333Z,1628946394.333 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T13:06:34.653Z,1628946394.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,00E46,186,80,80,8F,FF
2021-08-14T13:06:34.653Z,1628946394.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:34.653Z,1628946394.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:34.655Z,1628946394.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:35.097Z,1628946395.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:35.337Z,1628946395.337 [Micromodem](INFO): Outgoing frame #1, 59 bytes: B9BD17610C0000005D00000400260000000000000000151D80030C5669C08C79986B86C111F959E8A17A06783BC1AB6ADAF3CC0A0ACA8253B68600
2021-08-14T13:06:35.337Z,1628946395.337 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:06:35.569Z,1628946395.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00E47,183,80,80,6E,FF
2021-08-14T13:06:35.570Z,1628946395.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:06:35.572Z,1628946395.572 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:06:35.993Z,1628946395.993 [Micromodem](INFO): Nmea in: $CADRQ,130636,1,10,0,64,1*77

2021-08-14T13:06:35.994Z,1628946395.994 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17610C0000005D00000400260000000000000000151D80030C5669C08C79986B86C111F959E8A17A06783BC1AB6ADAF3CC0A0ACA8253B68600*4F

2021-08-14T13:06:36.123Z,1628946396.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.800003 m, bearing: 61.761132 deg, deltaT: 4.549134 s, approachRate: 0.013189 m/s, LOS rate: 2.653497 deg/s, posRepo size: 4
2021-08-14T13:06:36.136Z,1628946396.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.800003 m,
      bearing: 61.761132 deg,
      approachRate: 0.013189 m/s,
      LOS rate: 2.653497 deg/s,
      cmd update: 7.960491 deg/s,
      cmd heading: 50.926795 deg,
      new cmd heading: 56.818315 deg.

2021-08-14T13:06:36.410Z,1628946396.410 [Micromodem](INFO): Nmea in: $SNTTA,0.125864,,,,130636.30*4E

2021-08-14T13:06:36.410Z,1628946396.410 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.125864,,,,130636.30*4E

2021-08-14T13:06:37.629Z,1628946397.629 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-14T13:06:38.049Z,1628946398.049 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-14T13:06:38.430Z,1628946398.430 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-14T13:06:38.525Z,1628946398.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:38.837Z,1628946398.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:38.837Z,1628946398.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:38.837Z,1628946398.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:38.838Z,1628946398.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:38.850Z,1628946398.850 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,130637.655080,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*50

2021-08-14T13:06:39.245Z,1628946399.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00E47,183,80,80,6E,FF
2021-08-14T13:06:39.245Z,1628946399.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:39.245Z,1628946399.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:39.247Z,1628946399.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:39.873Z,1628946399.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:40.678Z,1628946400.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130640.89*5F

2021-08-14T13:06:40.752Z,1628946400.752 [Radio_Surface](INFO): Powering down
2021-08-14T13:06:41.132Z,1628946401.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:42.681Z,1628946402.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,183,80,80,6E,FF
2021-08-14T13:06:42.681Z,1628946402.681 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,183,80,80,6E,FF
2021-08-14T13:06:42.682Z,1628946402.682 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:06:43.682Z,1628946403.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:43.909Z,1628946403.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:43.909Z,1628946403.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:43.909Z,1628946403.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:43.910Z,1628946403.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:44.309Z,1628946404.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,183,80,80,6E,FF
2021-08-14T13:06:44.309Z,1628946404.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:44.309Z,1628946404.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:44.311Z,1628946404.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:44.761Z,1628946404.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:45.162Z,1628946405.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00E33,189,80,80,8E,FF
2021-08-14T13:06:45.162Z,1628946405.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:06:45.573Z,1628946405.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130645.95*57

2021-08-14T13:06:45.792Z,1628946405.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.600006 m, bearing: 350.718384 deg, deltaT: 9.601576 s, approachRate: -0.124979 m/s, LOS rate: -7.399072 deg/s, posRepo size: 4
2021-08-14T13:06:45.795Z,1628946405.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.600006 m,
      bearing: 350.718384 deg,
      approachRate: -0.124979 m/s,
      LOS rate: -7.399072 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 127.495133 deg,
      new cmd heading: 131.796473 deg.

2021-08-14T13:06:48.144Z,1628946408.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:48.468Z,1628946408.468 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:48.468Z,1628946408.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:48.469Z,1628946408.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:48.470Z,1628946408.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:48.866Z,1628946408.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00E33,189,80,80,8E,FF
2021-08-14T13:06:48.866Z,1628946408.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:48.866Z,1628946408.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:48.867Z,1628946408.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:49.274Z,1628946409.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:50.185Z,1628946410.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,00E38,189,80,80,9C,FF
2021-08-14T13:06:50.186Z,1628946410.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:06:50.202Z,1628946410.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130650.51*5B

2021-08-14T13:06:50.592Z,1628946410.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.900009 m, bearing: 25.055297 deg, deltaT: 5.057556 s, approachRate: 0.059318 m/s, LOS rate: 6.789229 deg/s, posRepo size: 4
2021-08-14T13:06:50.594Z,1628946410.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.900009 m,
      bearing: 25.055297 deg,
      approachRate: 0.059318 m/s,
      LOS rate: 6.789229 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 66.855027 deg,
      new cmd heading: 63.399195 deg.

2021-08-14T13:06:52.290Z,1628946412.290 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:06:53.106Z,1628946413.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:53.429Z,1628946413.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:53.429Z,1628946413.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:53.429Z,1628946413.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:53.430Z,1628946413.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:53.845Z,1628946413.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,00E38,189,80,80,9C,FF
2021-08-14T13:06:53.845Z,1628946413.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:53.845Z,1628946413.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:53.847Z,1628946413.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:54.265Z,1628946414.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:55.093Z,1628946415.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,00E47,189,80,80,A5,FF
2021-08-14T13:06:55.093Z,1628946415.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:06:55.105Z,1628946415.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130655.49*57

2021-08-14T13:06:55.500Z,1628946415.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.800003 m, bearing: 48.684574 deg, deltaT: 4.841792 s, approachRate: 0.185880 m/s, LOS rate: 4.880275 deg/s, posRepo size: 4
2021-08-14T13:06:55.502Z,1628946415.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.800003 m,
      bearing: 48.684574 deg,
      approachRate: 0.185880 m/s,
      LOS rate: 4.880275 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 124.999697 deg,
      new cmd heading: 129.207833 deg.

2021-08-14T13:06:58.293Z,1628946418.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:06:58.537Z,1628946418.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:06:58.537Z,1628946418.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:06:58.537Z,1628946418.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:06:58.538Z,1628946418.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:06:58.929Z,1628946418.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,00E47,189,80,80,A5,FF
2021-08-14T13:06:58.930Z,1628946418.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:06:58.930Z,1628946418.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:06:58.931Z,1628946418.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:06:59.367Z,1628946419.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:06:59.746Z,1628946419.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,00E47,189,80,80,A5,FF
2021-08-14T13:06:59.747Z,1628946419.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:00.225Z,1628946420.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130700.58*56

2021-08-14T13:07:00.304Z,1628946420.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.800003 m, bearing: 45.447949 deg, deltaT: 4.660449 s, approachRate: 0.000000 m/s, LOS rate: -0.694488 deg/s, posRepo size: 4
2021-08-14T13:07:00.306Z,1628946420.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.800003 m,
      bearing: 45.447949 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.694488 deg/s,
      cmd update: -2.083463 deg/s,
      cmd heading: 180.795415 deg,
      new cmd heading: 186.711127 deg.

2021-08-14T13:07:02.452Z,1628946422.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:02.681Z,1628946422.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:02.681Z,1628946422.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:02.681Z,1628946422.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:02.682Z,1628946422.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:03.092Z,1628946423.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,00E47,189,80,80,A5,FF
2021-08-14T13:07:03.092Z,1628946423.092 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:03.093Z,1628946423.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:03.094Z,1628946423.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:03.520Z,1628946423.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:03.910Z,1628946423.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,00E47,189,80,80,A5,FF
2021-08-14T13:07:03.910Z,1628946423.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:04.325Z,1628946424.325 [Micromodem](INFO): Nmea in: $SNTTA,0.136336,0.434186,,,130704.74*52

2021-08-14T13:07:04.555Z,1628946424.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.800003 m, bearing: 61.017242 deg, deltaT: 4.168358 s, approachRate: 0.000000 m/s, LOS rate: 3.735114 deg/s, posRepo size: 4
2021-08-14T13:07:04.557Z,1628946424.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.800003 m,
      bearing: 61.017242 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.735114 deg/s,
      cmd update: 11.205342 deg/s,
      cmd heading: 172.103779 deg,
      new cmd heading: 170.886132 deg.

2021-08-14T13:07:06.794Z,1628946426.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:07.161Z,1628946427.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:07.161Z,1628946427.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:07.161Z,1628946427.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:07.162Z,1628946427.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:07.178Z,1628946427.178 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:07:07.567Z,1628946427.567 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,00E47,189,80,80,A5,FF
2021-08-14T13:07:07.567Z,1628946427.567 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:07.567Z,1628946427.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:07.569Z,1628946427.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:07.976Z,1628946427.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:08.371Z,1628946428.371 [Micromodem](INFO): Nmea in: $SNTTA,0.135186,0.238856,,,130709.21*5B

2021-08-14T13:07:08.778Z,1628946428.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00E9C,187,80,80,32,FF
2021-08-14T13:07:08.779Z,1628946428.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:09.343Z,1628946429.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.899994 m, bearing: 120.220017 deg, deltaT: 5.025681 s, approachRate: 1.014786 m/s, LOS rate: 11.780050 deg/s, posRepo size: 4
2021-08-14T13:07:09.348Z,1628946429.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.780050 deg/s. Setting heading cmd to target bearing of 120.220017deg and heading rate command to 0 deg/s.
2021-08-14T13:07:10.216Z,1628946430.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T13:07:11.220Z,1628946431.220 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-14T13:07:11.703Z,1628946431.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:12.113Z,1628946432.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:12.113Z,1628946432.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:12.114Z,1628946432.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:12.114Z,1628946432.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:12.489Z,1628946432.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00E9C,187,80,80,32,FF
2021-08-14T13:07:12.489Z,1628946432.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:12.490Z,1628946432.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:12.491Z,1628946432.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:12.897Z,1628946432.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:13.314Z,1628946433.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,102,000,00E9C,187,80,80,32,FF
2021-08-14T13:07:13.314Z,1628946433.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:13.741Z,1628946433.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130714.14*5B

2021-08-14T13:07:13.764Z,1628946433.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.899994 m, bearing: 116.521593 deg, deltaT: 4.389429 s, approachRate: 0.000000 m/s, LOS rate: -0.842575 deg/s, posRepo size: 4
2021-08-14T13:07:13.766Z,1628946433.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.899994 m,
      bearing: 116.521593 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.842575 deg/s,
      cmd update: -2.527726 deg/s,
      cmd heading: 120.220017 deg,
      new cmd heading: 120.220017 deg.

2021-08-14T13:07:16.223Z,1628946436.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:16.545Z,1628946436.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:16.545Z,1628946436.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:16.545Z,1628946436.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:16.546Z,1628946436.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:16.941Z,1628946436.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
102,000,00E9C,187,80,80,32,FF
2021-08-14T13:07:16.941Z,1628946436.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:16.941Z,1628946436.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:16.943Z,1628946436.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:17.357Z,1628946437.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:17.898Z,1628946437.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,00533,18A,80,80,6B,FF
2021-08-14T13:07:17.898Z,1628946437.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:18.325Z,1628946438.325 [Micromodem](INFO): Nmea in: $SNTTA,0.042286,,,,130718.59*4A

2021-08-14T13:07:18.391Z,1628946438.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 182.685540 deg, deltaT: 4.526144 s, approachRate: -31.934465 m/s, LOS rate: 14.618171 deg/s, posRepo size: 4
2021-08-14T13:07:18.392Z,1628946438.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.618171 deg/s. Setting heading cmd to target bearing of 182.685540deg and heading rate command to 0 deg/s.
2021-08-14T13:07:20.425Z,1628946440.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:20.729Z,1628946440.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:20.729Z,1628946440.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:20.729Z,1628946440.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:20.730Z,1628946440.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:21.141Z,1628946441.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,00533,18A,80,80,6B,FF
2021-08-14T13:07:21.141Z,1628946441.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:21.141Z,1628946441.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:21.143Z,1628946441.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:21.549Z,1628946441.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:22.345Z,1628946442.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00F0E,186,80,80,74,FF
2021-08-14T13:07:22.345Z,1628946442.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:22.349Z,1628946442.349 [Micromodem](INFO): Nmea in: $SNTTA,0.451679,0.451341,,,130722.79*5B

2021-08-14T13:07:22.815Z,1628946442.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.739975 m, bearing: 167.224437 deg, deltaT: 4.529770 s, approachRate: 33.418911 m/s, LOS rate: -3.413220 deg/s, posRepo size: 4
2021-08-14T13:07:22.817Z,1628946442.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.739975 m,
      bearing: 167.224437 deg,
      approachRate: 33.418911 m/s,
      LOS rate: -3.413220 deg/s,
      cmd update: -10.239661 deg/s,
      cmd heading: 182.685540 deg,
      new cmd heading: 182.685540 deg.

2021-08-14T13:07:25.218Z,1628946445.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:25.573Z,1628946445.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:25.573Z,1628946445.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:25.574Z,1628946445.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:25.575Z,1628946445.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:25.977Z,1628946445.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00F0E,186,80,80,74,FF
2021-08-14T13:07:25.977Z,1628946445.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:25.977Z,1628946445.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:25.979Z,1628946445.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:26.431Z,1628946446.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:26.814Z,1628946446.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05C,000,00F0E,186,80,80,74,FF
2021-08-14T13:07:26.814Z,1628946446.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:27.241Z,1628946447.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130727.63*5B

2021-08-14T13:07:27.287Z,1628946447.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.739975 m, bearing: 149.402383 deg, deltaT: 4.414024 s, approachRate: 0.000000 m/s, LOS rate: -4.037598 deg/s, posRepo size: 4
2021-08-14T13:07:27.294Z,1628946447.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.739975 m,
      bearing: 149.402383 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.037598 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 137.540800 deg,
      new cmd heading: 133.151846 deg.

2021-08-14T13:07:29.376Z,1628946449.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:29.721Z,1628946449.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:29.721Z,1628946449.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:29.721Z,1628946449.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:29.722Z,1628946449.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:30.166Z,1628946450.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05C,000,00F0E,186,80,80,74,FF
2021-08-14T13:07:30.167Z,1628946450.167 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:30.167Z,1628946450.167 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:30.179Z,1628946450.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:30.837Z,1628946450.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:31.225Z,1628946451.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00F60,186,80,80,AC,FF
2021-08-14T13:07:31.226Z,1628946451.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:31.645Z,1628946451.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130731.84*55

2021-08-14T13:07:31.701Z,1628946451.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.660004 m, bearing: 166.691504 deg, deltaT: 4.441128 s, approachRate: 1.107833 m/s, LOS rate: 3.892957 deg/s, posRepo size: 4
2021-08-14T13:07:31.703Z,1628946451.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.660004 m,
      bearing: 166.691504 deg,
      approachRate: 1.107833 m/s,
      LOS rate: 3.892957 deg/s,
      cmd update: 11.678872 deg/s,
      cmd heading: 84.290534 deg,
      new cmd heading: 79.426958 deg.

2021-08-14T13:07:34.117Z,1628946454.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:34.457Z,1628946454.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:34.457Z,1628946454.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:34.457Z,1628946454.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:34.458Z,1628946454.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:34.885Z,1628946454.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00F60,186,80,80,AC,FF
2021-08-14T13:07:34.885Z,1628946454.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:34.885Z,1628946454.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:34.887Z,1628946454.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:35.297Z,1628946455.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:36.128Z,1628946456.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00F8C,186,80,80,A2,FF
2021-08-14T13:07:36.129Z,1628946456.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:36.136Z,1628946456.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130736.53*58

2021-08-14T13:07:36.203Z,1628946456.203 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T13:07:36.719Z,1628946456.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.299988 m, bearing: 158.410064 deg, deltaT: 4.941190 s, approachRate: 0.534281 m/s, LOS rate: -1.676001 deg/s, posRepo size: 4
2021-08-14T13:07:36.723Z,1628946456.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.299988 m,
      bearing: 158.410064 deg,
      approachRate: 0.534281 m/s,
      LOS rate: -1.676001 deg/s,
      cmd update: -5.028004 deg/s,
      cmd heading: 142.042008 deg,
      new cmd heading: 147.625081 deg.

2021-08-14T13:07:38.954Z,1628946458.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:39.325Z,1628946459.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:39.325Z,1628946459.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:39.325Z,1628946459.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:39.326Z,1628946459.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:39.733Z,1628946459.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00F8C,186,80,80,A2,FF
2021-08-14T13:07:39.733Z,1628946459.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:39.733Z,1628946459.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:39.735Z,1628946459.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:40.149Z,1628946460.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:40.534Z,1628946460.534 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:07:40.969Z,1628946460.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,00FC3,186,80,80,8F,FF
2021-08-14T13:07:40.970Z,1628946460.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:40.973Z,1628946460.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130741.38*55

2021-08-14T13:07:41.222Z,1628946461.222 [Micromodem](INFO): Outgoing frame #1, 59 bytes: B9BD17610C0000005D00000400260000000000000000151D80030C5669C08C79986B86C111F959E8A17A06783BC1AB6ADAF3CC0A0ACA8253B68600
2021-08-14T13:07:41.222Z,1628946461.222 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:07:41.685Z,1628946461.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.600006 m, bearing: 114.780523 deg, deltaT: 5.225124 s, approachRate: 0.631567 m/s, LOS rate: -8.349953 deg/s, posRepo size: 4
2021-08-14T13:07:41.687Z,1628946461.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.600006 m,
      bearing: 114.780523 deg,
      approachRate: 0.631567 m/s,
      LOS rate: -8.349953 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 115.745438 deg,
      new cmd heading: 114.671431 deg.

2021-08-14T13:07:42.477Z,1628946462.477 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:07:42.871Z,1628946462.871 [Micromodem](INFO): Nmea in: $CADRQ,130742,1,10,0,64,1*75

2021-08-14T13:07:42.873Z,1628946462.873 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17610C0000005D00000400260000000000000000151D80030C5669C08C79986B86C111F959E8A17A06783BC1AB6ADAF3CC0A0ACA8253B68600*4F

2021-08-14T13:07:43.273Z,1628946463.273 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-14T13:07:43.746Z,1628946463.746 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-14T13:07:44.246Z,1628946464.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:44.545Z,1628946464.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:44.545Z,1628946464.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:44.545Z,1628946464.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:44.546Z,1628946464.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:44.957Z,1628946464.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,00FC3,186,80,80,8F,FF
2021-08-14T13:07:44.958Z,1628946464.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:44.958Z,1628946464.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:44.959Z,1628946464.959 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-14T13:07:44.960Z,1628946464.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:45.366Z,1628946465.366 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,130744.536645,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*5C

2021-08-14T13:07:45.367Z,1628946465.367 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,130744.536645,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*5C

2021-08-14T13:07:45.781Z,1628946465.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:46.209Z,1628946466.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00FF5,184,80,80,8C,FF
2021-08-14T13:07:46.210Z,1628946466.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:46.221Z,1628946466.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130746.60*5F

2021-08-14T13:07:46.600Z,1628946466.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.599976 m, bearing: 127.944633 deg, deltaT: 4.814575 s, approachRate: 0.623102 m/s, LOS rate: 2.734221 deg/s, posRepo size: 4
2021-08-14T13:07:46.602Z,1628946466.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.599976 m,
      bearing: 127.944633 deg,
      approachRate: 0.623102 m/s,
      LOS rate: 2.734221 deg/s,
      cmd update: 8.202662 deg/s,
      cmd heading: 57.973897 deg,
      new cmd heading: 54.199537 deg.

2021-08-14T13:07:49.194Z,1628946469.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:49.525Z,1628946469.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:49.525Z,1628946469.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:49.525Z,1628946469.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:49.526Z,1628946469.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:49.967Z,1628946469.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00FF5,184,80,80,8C,FF
2021-08-14T13:07:49.967Z,1628946469.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:49.967Z,1628946469.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:49.969Z,1628946469.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:50.382Z,1628946470.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:51.181Z,1628946471.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,0102E,186,80,80,64,FF
2021-08-14T13:07:51.182Z,1628946471.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:51.628Z,1628946471.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.020004 m, bearing: 127.843615 deg, deltaT: 4.942599 s, approachRate: 0.691949 m/s, LOS rate: -0.020438 deg/s, posRepo size: 4
2021-08-14T13:07:51.630Z,1628946471.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.020004 m,
      bearing: 127.843615 deg,
      approachRate: 0.691949 m/s,
      LOS rate: -0.020438 deg/s,
      cmd update: -0.061315 deg/s,
      cmd heading: 98.519827 deg,
      new cmd heading: 101.800416 deg.

2021-08-14T13:07:54.311Z,1628946474.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:54.453Z,1628946474.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:54.453Z,1628946474.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:54.453Z,1628946474.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:54.454Z,1628946474.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:07:54.853Z,1628946474.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,0102E,186,80,80,64,FF
2021-08-14T13:07:54.853Z,1628946474.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:07:54.853Z,1628946474.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:07:54.858Z,1628946474.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:07:55.265Z,1628946475.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:07:56.141Z,1628946476.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,0105B,189,80,80,82,FF
2021-08-14T13:07:56.142Z,1628946476.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:07:56.153Z,1628946476.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130756.50*5D

2021-08-14T13:07:56.442Z,1628946476.442 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:07:56.815Z,1628946476.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.720001 m, bearing: 58.944772 deg, deltaT: 5.236984 s, approachRate: 0.515563 m/s, LOS rate: -13.156206 deg/s, posRepo size: 4
2021-08-14T13:07:56.816Z,1628946476.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.156206 deg/s. Setting heading cmd to target bearing of 58.944772deg and heading rate command to 0 deg/s.
2021-08-14T13:07:59.273Z,1628946479.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:07:59.593Z,1628946479.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:07:59.593Z,1628946479.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:07:59.593Z,1628946479.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:07:59.594Z,1628946479.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:00.005Z,1628946480.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,0105B,189,80,80,82,FF
2021-08-14T13:08:00.005Z,1628946480.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:00.005Z,1628946480.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:00.007Z,1628946480.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:00.427Z,1628946480.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:01.225Z,1628946481.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,0109A,186,80,80,5B,FF
2021-08-14T13:08:01.226Z,1628946481.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:08:01.688Z,1628946481.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.500000 m, bearing: 79.343425 deg, deltaT: 4.818443 s, approachRate: 0.784486 m/s, LOS rate: 4.233453 deg/s, posRepo size: 4
2021-08-14T13:08:01.690Z,1628946481.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.500000 m,
      bearing: 79.343425 deg,
      approachRate: 0.784486 m/s,
      LOS rate: 4.233453 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 58.944772 deg,
      new cmd heading: 58.944772 deg.

2021-08-14T13:08:03.806Z,1628946483.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:04.166Z,1628946484.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:04.167Z,1628946484.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:04.170Z,1628946484.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:04.188Z,1628946484.188 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:04.553Z,1628946484.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,0109A,186,80,80,5B,FF
2021-08-14T13:08:04.554Z,1628946484.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:04.554Z,1628946484.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:04.555Z,1628946484.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:04.956Z,1628946484.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:05.788Z,1628946485.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130806.20*50

2021-08-14T13:08:06.794Z,1628946486.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:08.229Z,1628946488.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,5B,FF
2021-08-14T13:08:08.230Z,1628946488.230 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,5B,FF
2021-08-14T13:08:08.230Z,1628946488.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:08:09.458Z,1628946489.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:09.841Z,1628946489.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:09.841Z,1628946489.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:09.841Z,1628946489.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:09.842Z,1628946489.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:10.245Z,1628946490.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,5B,FF
2021-08-14T13:08:10.245Z,1628946490.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:10.245Z,1628946490.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:10.247Z,1628946490.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:10.653Z,1628946490.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:11.122Z,1628946491.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,,E4
A,186,80,80,5B,FF
2021-08-14T13:08:11.123Z,1628946491.123 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,20B,000,,E4
A,186,80,80,5B,FF
2021-08-14T13:08:11.144Z,1628946491.144 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:08:11.471Z,1628946491.471 [Micromodem](INFO): Nmea in: $SNTTA,,0.149114,,,130811.89*43

2021-08-14T13:08:12.342Z,1628946492.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:14.975Z,1628946494.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:15.960Z,1628946495.960 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.117847
2021-08-14T13:08:17.610Z,1628946497.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:17.969Z,1628946497.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:17.969Z,1628946497.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:17.969Z,1628946497.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:17.970Z,1628946497.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:18.378Z,1628946498.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,,E4
A,186,80,80,5B,FF
2021-08-14T13:08:18.378Z,1628946498.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:18.378Z,1628946498.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:18.380Z,1628946498.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:18.778Z,1628946498.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:19.614Z,1628946499.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130820.02*54

2021-08-14T13:08:20.397Z,1628946500.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,04480,188,80,80,43,FF
2021-08-14T13:08:20.398Z,1628946500.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:08:20.848Z,1628946500.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1014.659973 m, bearing: 130.116524 deg, deltaT: 19.203147 s, approachRate: 41.511944 m/s, LOS rate: 2.643999 deg/s, posRepo size: 4
2021-08-14T13:08:20.850Z,1628946500.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1014.659973 m,
      bearing: 130.116524 deg,
      approachRate: 41.511944 m/s,
      LOS rate: 2.643999 deg/s,
      cmd update: 7.931997 deg/s,
      cmd heading: 289.429979 deg,
      new cmd heading: 293.762795 deg.

2021-08-14T13:08:21.417Z,1628946501.417 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:08:23.264Z,1628946503.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:23.641Z,1628946503.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:23.641Z,1628946503.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:23.641Z,1628946503.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:23.642Z,1628946503.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:24.039Z,1628946504.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,04480,188,80,80,43,FF
2021-08-14T13:08:24.040Z,1628946504.040 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:24.041Z,1628946504.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:24.047Z,1628946504.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:24.464Z,1628946504.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:25.281Z,1628946505.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,01163,186,80,80,74,FF
2021-08-14T13:08:25.281Z,1628946505.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:08:25.308Z,1628946505.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130825.69*5C

2021-08-14T13:08:25.880Z,1628946505.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.559982 m, bearing: 152.417898 deg, deltaT: 4.880811 s, approachRate: -160.854416 m/s, LOS rate: 4.569194 deg/s, posRepo size: 4
2021-08-14T13:08:25.882Z,1628946505.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.559982 m,
      bearing: 152.417898 deg,
      approachRate: -160.854416 m/s,
      LOS rate: 4.569194 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.143327 deg,
      new cmd heading: 332.208325 deg.

2021-08-14T13:08:26.193Z,1628946506.193 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:08:27.923Z,1628946507.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:28.113Z,1628946508.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:28.113Z,1628946508.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:28.114Z,1628946508.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:28.115Z,1628946508.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:28.494Z,1628946508.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8F,000,01163,186,80,80,74,FF
2021-08-14T13:08:28.494Z,1628946508.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:28.494Z,1628946508.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:28.496Z,1628946508.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:28.906Z,1628946508.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:29.721Z,1628946509.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,01199,187,80,80,45,FF
2021-08-14T13:08:29.722Z,1628946509.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:08:29.725Z,1628946509.725 [Micromodem](INFO): Nmea in: $SNTTA,0.156729,,,,130830.14*42

2021-08-14T13:08:30.215Z,1628946510.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.799988 m, bearing: 175.442903 deg, deltaT: 4.405575 s, approachRate: 0.735433 m/s, LOS rate: 5.226334 deg/s, posRepo size: 4
2021-08-14T13:08:30.217Z,1628946510.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.799988 m,
      bearing: 175.442903 deg,
      approachRate: 0.735433 m/s,
      LOS rate: 5.226334 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 20.911864 deg,
      new cmd heading: 26.310736 deg.

2021-08-14T13:08:31.339Z,1628946511.339 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T13:08:32.427Z,1628946512.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:32.593Z,1628946512.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:32.593Z,1628946512.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:32.593Z,1628946512.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:32.594Z,1628946512.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:33.009Z,1628946513.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,01199,187,80,80,45,FF
2021-08-14T13:08:33.009Z,1628946513.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:33.009Z,1628946513.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:33.011Z,1628946513.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:33.401Z,1628946513.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:34.253Z,1628946514.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,011BC,185,80,80,8A,FF
2021-08-14T13:08:34.254Z,1628946514.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:08:34.257Z,1628946514.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130834.66*53

2021-08-14T13:08:34.807Z,1628946514.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.899994 m, bearing: 145.229301 deg, deltaT: 4.759846 s, approachRate: 0.441192 m/s, LOS rate: -6.347600 deg/s, posRepo size: 4
2021-08-14T13:08:34.813Z,1628946514.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.899994 m,
      bearing: 145.229301 deg,
      approachRate: 0.441192 m/s,
      LOS rate: -6.347600 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 78.125417 deg,
      new cmd heading: 81.397997 deg.

2021-08-14T13:08:36.422Z,1628946516.422 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:08:37.229Z,1628946517.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:37.581Z,1628946517.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:37.581Z,1628946517.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:37.581Z,1628946517.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:37.582Z,1628946517.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:37.989Z,1628946517.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,011BC,185,80,80,8A,FF
2021-08-14T13:08:37.989Z,1628946517.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:37.990Z,1628946517.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:37.991Z,1628946517.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:38.392Z,1628946518.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:38.829Z,1628946518.829 [Micromodem](INFO): Nmea in: $SNTTA,0.160317,0.026099,,,130839.64*5A

2021-08-14T13:08:39.208Z,1628946519.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,011F7,187,80,80,1C,FF
2021-08-14T13:08:39.208Z,1628946519.208 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:08:39.684Z,1628946519.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.440002 m, bearing: 131.707822 deg, deltaT: 4.745675 s, approachRate: 0.745944 m/s, LOS rate: -2.849222 deg/s, posRepo size: 4
2021-08-14T13:08:39.686Z,1628946519.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.440002 m,
      bearing: 131.707822 deg,
      approachRate: 0.745944 m/s,
      LOS rate: -2.849222 deg/s,
      cmd update: -8.547664 deg/s,
      cmd heading: 21.304311 deg,
      new cmd heading: 16.357815 deg.

2021-08-14T13:08:42.089Z,1628946522.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:42.441Z,1628946522.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:42.441Z,1628946522.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:42.441Z,1628946522.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:42.442Z,1628946522.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:42.842Z,1628946522.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,011F7,187,80,80,1C,FF
2021-08-14T13:08:42.842Z,1628946522.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:42.843Z,1628946522.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:42.844Z,1628946522.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:43.248Z,1628946523.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:08:44.081Z,1628946524.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,476,000,01019,189,80,80,35,FF
2021-08-14T13:08:44.081Z,1628946524.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:08:44.084Z,1628946524.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130844.49*59

2021-08-14T13:08:44.518Z,1628946524.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.759995 m, bearing: 46.214761 deg, deltaT: 4.935419 s, approachRate: -5.811059 m/s, LOS rate: -17.322352 deg/s, posRepo size: 4
2021-08-14T13:08:44.519Z,1628946524.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.322352 deg/s. Setting heading cmd to target bearing of 46.214761deg and heading rate command to 0 deg/s.
2021-08-14T13:08:46.488Z,1628946526.488 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:08:47.080Z,1628946527.080 [Micromodem](INFO): Outgoing frame #1, 59 bytes: B9BD17610C0000005D00000400260000000000000000151D80030C5669C08C79986B86C111F959E8A17A06783BC1AB6ADAF3CC0A0ACA8253B68600
2021-08-14T13:08:47.081Z,1628946527.081 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:08:47.316Z,1628946527.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:47.425Z,1628946527.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:47.425Z,1628946527.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:47.425Z,1628946527.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:47.426Z,1628946527.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:47.436Z,1628946527.436 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:08:47.822Z,1628946527.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
476,000,01019,189,80,80,35,FF
2021-08-14T13:08:47.822Z,1628946527.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:47.822Z,1628946527.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:47.823Z,1628946527.823 [Micromodem](INFO): Nmea in: $CADRQ,130848,1,10,0,64,1*70

2021-08-14T13:08:47.824Z,1628946527.824 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17610C0000005D00000400260000000000000000151D80030C5669C08C79986B86C111F959E8A17A06783BC1AB6ADAF3CC0A0ACA8253B68600*4F

2021-08-14T13:08:48.242Z,1628946528.242 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-14T13:08:48.242Z,1628946528.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:08:48.626Z,1628946528.626 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-14T13:08:48.626Z,1628946528.626 [Micromodem](ERROR): Response from modem unexpected: $CATXP,59*7E

2021-08-14T13:08:49.858Z,1628946529.858 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-14T13:08:49.859Z,1628946529.859 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-14T13:08:49.882Z,1628946529.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:50.247Z,1628946530.247 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,130849.486579,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*58

2021-08-14T13:08:50.248Z,1628946530.248 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,130849.486579,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*58

2021-08-14T13:08:51.281Z,1628946531.281 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T13:08:52.267Z,1628946532.267 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T13:08:52.269Z,1628946532.269 [Micromodem](INFO): Sent 51 bytes from file Logs/20210814T125729/Courier0012.lzma.parts
2021-08-14T13:08:52.269Z,1628946532.269 [Micromodem](INFO): Packets left to send: 0
2021-08-14T13:08:52.658Z,1628946532.658 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814130852.629775,06,32767,45,0180,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,19.7,14.61,26,-11.61,-01,0.53,39,14500,4000*67

2021-08-14T13:08:52.659Z,1628946532.659 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814130852.629775,06,32767,45,0180,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,19.7,14.61,26,-11.61,-01,0.53,39,14500,4000*67

2021-08-14T13:08:52.855Z,1628946532.855 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100
2021-08-14T13:08:52.901Z,1628946532.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:53.476Z,1628946533.476 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.049777
2021-08-14T13:08:55.527Z,1628946535.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:55.889Z,1628946535.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:08:55.889Z,1628946535.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:08:55.889Z,1628946535.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:08:55.890Z,1628946535.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:08:56.306Z,1628946536.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
476,000,01019,189,80,80,35,FF
2021-08-14T13:08:56.306Z,1628946536.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:08:56.306Z,1628946536.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:08:58.390Z,1628946538.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:08:59.530Z,1628946539.530 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:00.033Z,1628946540.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:00.044Z,1628946540.044 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:09:00.443Z,1628946540.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4DC,000,01019,189,80,80,35,FF
2021-08-14T13:09:00.444Z,1628946540.444 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:00.447Z,1628946540.447 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:09:00.854Z,1628946540.854 [Micromodem](INFO): Nmea in: $CADRQ,130901,1,10,0,64,1*7C

2021-08-14T13:09:00.854Z,1628946540.854 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100*4B

2021-08-14T13:09:00.969Z,1628946540.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.759995 m, bearing: 347.422763 deg, deltaT: 16.313641 s, approachRate: 0.000000 m/s, LOS rate: -3.603855 deg/s, posRepo size: 4
2021-08-14T13:09:00.971Z,1628946540.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.759995 m,
      bearing: 347.422763 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.603855 deg/s,
      cmd update: -10.811564 deg/s,
      cmd heading: 46.214761 deg,
      new cmd heading: 46.214761 deg.

2021-08-14T13:09:01.258Z,1628946541.258 [Micromodem](INFO): Nmea in: $SNTTA,,0.257165,,,130901.18*41

2021-08-14T13:09:01.258Z,1628946541.258 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,0.257165,,,130901.18*41

2021-08-14T13:09:02.453Z,1628946542.453 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T13:09:02.873Z,1628946542.873 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T13:09:03.254Z,1628946543.254 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T13:09:03.326Z,1628946543.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:03.669Z,1628946543.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:03.669Z,1628946543.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:03.669Z,1628946543.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:03.670Z,1628946543.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:03.681Z,1628946543.681 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,130902.518648,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B

2021-08-14T13:09:04.088Z,1628946544.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4DC,000,01019,189,80,80,35,FF
2021-08-14T13:09:04.088Z,1628946544.088 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:04.088Z,1628946544.088 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:04.090Z,1628946544.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:04.475Z,1628946544.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:05.294Z,1628946545.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130905.73*54

2021-08-14T13:09:05.925Z,1628946545.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:07.715Z,1628946547.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-14T13:09:07.715Z,1628946547.715 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-14T13:09:07.715Z,1628946547.715 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:09:08.573Z,1628946548.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:08.920Z,1628946548.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:08.921Z,1628946548.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:08.921Z,1628946548.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:08.922Z,1628946548.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:09.323Z,1628946549.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,35,FF
2021-08-14T13:09:09.323Z,1628946549.323 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:09.323Z,1628946549.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:09.326Z,1628946549.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:09.725Z,1628946549.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:10.573Z,1628946550.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01269,189,80,80,87,FF
2021-08-14T13:09:10.574Z,1628946550.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:10.577Z,1628946550.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130910.97*5A

2021-08-14T13:09:11.002Z,1628946551.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.279984 m, bearing: 321.176067 deg, deltaT: 10.113754 s, approachRate: 3.512048 m/s, LOS rate: -2.595149 deg/s, posRepo size: 4
2021-08-14T13:09:11.004Z,1628946551.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.279984 m,
      bearing: 321.176067 deg,
      approachRate: 3.512048 m/s,
      LOS rate: -2.595149 deg/s,
      cmd update: -7.785446 deg/s,
      cmd heading: 297.130613 deg,
      new cmd heading: 292.967177 deg.

2021-08-14T13:09:13.439Z,1628946553.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:13.796Z,1628946553.796 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:13.796Z,1628946553.796 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:13.797Z,1628946553.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:13.798Z,1628946553.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:14.233Z,1628946554.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01269,189,80,80,87,FF
2021-08-14T13:09:14.233Z,1628946554.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:14.234Z,1628946554.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:14.235Z,1628946554.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:14.596Z,1628946554.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:15.403Z,1628946555.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01254,189,80,80,AA,FF
2021-08-14T13:09:15.405Z,1628946555.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:15.411Z,1628946555.411 [Micromodem](INFO): Nmea in: $SNTTA,0.168398,,,,130915.88*42

2021-08-14T13:09:15.861Z,1628946555.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.020004 m, bearing: 303.764276 deg, deltaT: 4.837538 s, approachRate: -0.260459 m/s, LOS rate: -3.599309 deg/s, posRepo size: 4
2021-08-14T13:09:15.863Z,1628946555.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.020004 m,
      bearing: 303.764276 deg,
      approachRate: -0.260459 m/s,
      LOS rate: -3.599309 deg/s,
      cmd update: -10.797926 deg/s,
      cmd heading: 259.310732 deg,
      new cmd heading: 256.336029 deg.

2021-08-14T13:09:18.368Z,1628946558.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:18.669Z,1628946558.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:18.669Z,1628946558.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:18.669Z,1628946558.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:18.670Z,1628946558.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:19.109Z,1628946559.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01254,189,80,80,AA,FF
2021-08-14T13:09:19.109Z,1628946559.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:19.110Z,1628946559.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:19.111Z,1628946559.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:19.484Z,1628946559.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:20.298Z,1628946560.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,0122F,189,80,80,9D,FF
2021-08-14T13:09:20.298Z,1628946560.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:20.301Z,1628946560.301 [Micromodem](INFO): Nmea in: $SNTTA,0.427635,0.427416,,,130920.76*55

2021-08-14T13:09:20.740Z,1628946560.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.799988 m, bearing: 309.944040 deg, deltaT: 4.891951 s, approachRate: -0.453810 m/s, LOS rate: 1.263251 deg/s, posRepo size: 4
2021-08-14T13:09:20.742Z,1628946560.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.799988 m,
      bearing: 309.944040 deg,
      approachRate: -0.453810 m/s,
      LOS rate: 1.263251 deg/s,
      cmd update: 3.789754 deg/s,
      cmd heading: 206.488183 deg,
      new cmd heading: 202.460880 deg.

2021-08-14T13:09:23.355Z,1628946563.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:23.521Z,1628946563.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:23.521Z,1628946563.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:23.521Z,1628946563.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:23.522Z,1628946563.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:23.926Z,1628946563.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32D,000,0122F,189,80,80,9D,FF
2021-08-14T13:09:23.926Z,1628946563.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:23.927Z,1628946563.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:23.929Z,1628946563.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:24.333Z,1628946564.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:25.141Z,1628946565.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,011F8,186,80,80,AB,FF
2021-08-14T13:09:25.142Z,1628946565.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:25.601Z,1628946565.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.499985 m, bearing: 309.595536 deg, deltaT: 4.993869 s, approachRate: -0.660811 m/s, LOS rate: -0.069786 deg/s, posRepo size: 4
2021-08-14T13:09:25.603Z,1628946565.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.499985 m,
      bearing: 309.595536 deg,
      approachRate: -0.660811 m/s,
      LOS rate: -0.069786 deg/s,
      cmd update: -0.209359 deg/s,
      cmd heading: 225.428644 deg,
      new cmd heading: 226.309136 deg.

2021-08-14T13:09:26.403Z,1628946566.403 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:09:28.018Z,1628946568.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:28.370Z,1628946568.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:28.370Z,1628946568.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:28.370Z,1628946568.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:28.371Z,1628946568.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:28.802Z,1628946568.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,011F8,186,80,80,AB,FF
2021-08-14T13:09:28.802Z,1628946568.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:28.802Z,1628946568.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:28.810Z,1628946568.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:29.185Z,1628946569.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:30.003Z,1628946570.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,011BE,185,80,80,BA,FF
2021-08-14T13:09:30.004Z,1628946570.004 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:30.010Z,1628946570.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130930.46*54

2021-08-14T13:09:30.499Z,1628946570.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.019989 m, bearing: 312.473614 deg, deltaT: 4.664777 s, approachRate: -0.746015 m/s, LOS rate: 0.616981 deg/s, posRepo size: 4
2021-08-14T13:09:30.505Z,1628946570.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.019989 m,
      bearing: 312.473614 deg,
      approachRate: -0.746015 m/s,
      LOS rate: 0.616981 deg/s,
      cmd update: 1.850942 deg/s,
      cmd heading: 224.451975 deg,
      new cmd heading: 224.353712 deg.

2021-08-14T13:09:32.895Z,1628946572.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:33.217Z,1628946573.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:33.217Z,1628946573.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:33.217Z,1628946573.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:33.218Z,1628946573.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:33.625Z,1628946573.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,011BE,185,80,80,BA,FF
2021-08-14T13:09:33.625Z,1628946573.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:33.626Z,1628946573.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:33.627Z,1628946573.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:34.036Z,1628946574.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:34.430Z,1628946574.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,00C8C,186,80,80,BA,FF
2021-08-14T13:09:34.430Z,1628946574.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:34.877Z,1628946574.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130935.27*56

2021-08-14T13:09:34.900Z,1628946574.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.220001 m, bearing: 311.198390 deg, deltaT: 4.501978 s, approachRate: -17.725540 m/s, LOS rate: -0.283259 deg/s, posRepo size: 4
2021-08-14T13:09:34.902Z,1628946574.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.220001 m,
      bearing: 311.198390 deg,
      approachRate: -17.725540 m/s,
      LOS rate: -0.283259 deg/s,
      cmd update: -0.849776 deg/s,
      cmd heading: 232.779167 deg,
      new cmd heading: 233.467012 deg.

2021-08-14T13:09:37.382Z,1628946577.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:37.738Z,1628946577.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:37.738Z,1628946577.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:37.739Z,1628946577.739 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:37.739Z,1628946577.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:38.161Z,1628946578.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,00C8C,186,80,80,BA,FF
2021-08-14T13:09:38.161Z,1628946578.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:38.162Z,1628946578.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:38.173Z,1628946578.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:38.708Z,1628946578.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:39.135Z,1628946579.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,01152,187,80,80,AE,FF
2021-08-14T13:09:39.136Z,1628946579.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:39.526Z,1628946579.526 [Micromodem](INFO): Nmea in: $SNTTA,0.154363,,,,130939.82*4D

2021-08-14T13:09:39.588Z,1628946579.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.539993 m, bearing: 253.818791 deg, deltaT: 4.651942 s, approachRate: 15.761158 m/s, LOS rate: -12.334547 deg/s, posRepo size: 4
2021-08-14T13:09:39.589Z,1628946579.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.334547 deg/s. Setting heading cmd to target bearing of 253.818791deg and heading rate command to 0 deg/s.
2021-08-14T13:09:41.974Z,1628946581.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:42.333Z,1628946582.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:42.333Z,1628946582.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:42.333Z,1628946582.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:42.334Z,1628946582.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:42.737Z,1628946582.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,01152,187,80,80,AE,FF
2021-08-14T13:09:42.737Z,1628946582.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:42.737Z,1628946582.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:42.739Z,1628946582.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:43.153Z,1628946583.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:43.985Z,1628946583.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1C,000,0112E,189,80,80,A5,FF
2021-08-14T13:09:43.985Z,1628946583.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:43.988Z,1628946583.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130944.39*5F

2021-08-14T13:09:44.589Z,1628946584.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.379990 m, bearing: 319.522560 deg, deltaT: 4.901696 s, approachRate: -0.440665 m/s, LOS rate: 13.404293 deg/s, posRepo size: 4
2021-08-14T13:09:44.589Z,1628946584.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.404293 deg/s. Setting heading cmd to target bearing of 319.522560deg and heading rate command to 0 deg/s.
2021-08-14T13:09:46.819Z,1628946586.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:47.185Z,1628946587.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:47.185Z,1628946587.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:47.186Z,1628946587.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:47.187Z,1628946587.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:47.589Z,1628946587.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1C,000,0112E,189,80,80,A5,FF
2021-08-14T13:09:47.589Z,1628946587.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:47.589Z,1628946587.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:47.591Z,1628946587.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:47.992Z,1628946587.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:48.829Z,1628946588.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0110A,189,80,80,BD,FF
2021-08-14T13:09:48.829Z,1628946588.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:48.832Z,1628946588.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130949.24*5E

2021-08-14T13:09:49.372Z,1628946589.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.220001 m, bearing: 319.284187 deg, deltaT: 5.053317 s, approachRate: -0.427440 m/s, LOS rate: -0.047172 deg/s, posRepo size: 4
2021-08-14T13:09:49.374Z,1628946589.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.220001 m,
      bearing: 319.284187 deg,
      approachRate: -0.427440 m/s,
      LOS rate: -0.047172 deg/s,
      cmd update: -0.141515 deg/s,
      cmd heading: 319.522560 deg,
      new cmd heading: 319.522560 deg.

2021-08-14T13:09:51.821Z,1628946591.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:52.237Z,1628946592.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:52.237Z,1628946592.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:52.237Z,1628946592.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:52.238Z,1628946592.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:52.614Z,1628946592.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0110A,189,80,80,BD,FF
2021-08-14T13:09:52.614Z,1628946592.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:52.614Z,1628946592.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:52.616Z,1628946592.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:53.037Z,1628946593.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:53.841Z,1628946593.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D19,000,010E3,189,80,80,A0,FF
2021-08-14T13:09:53.842Z,1628946593.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:53.845Z,1628946593.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130954.26*50

2021-08-14T13:09:54.320Z,1628946594.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.879990 m, bearing: 311.231503 deg, deltaT: 4.741253 s, approachRate: -0.493543 m/s, LOS rate: -1.698429 deg/s, posRepo size: 4
2021-08-14T13:09:54.322Z,1628946594.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.879990 m,
      bearing: 311.231503 deg,
      approachRate: -0.493543 m/s,
      LOS rate: -1.698429 deg/s,
      cmd update: -5.095288 deg/s,
      cmd heading: 318.851125 deg,
      new cmd heading: 318.785988 deg.

2021-08-14T13:09:56.275Z,1628946596.275 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:09:56.719Z,1628946596.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:09:57.060Z,1628946597.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:09:57.061Z,1628946597.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:09:57.062Z,1628946597.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:09:57.063Z,1628946597.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:09:57.466Z,1628946597.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D19,000,010E3,189,80,80,A0,FF
2021-08-14T13:09:57.466Z,1628946597.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:09:57.466Z,1628946597.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:09:57.468Z,1628946597.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:09:57.977Z,1628946597.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:09:58.004Z,1628946598.004 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:09:58.374Z,1628946598.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,010B1,186,80,80,A0,FF
2021-08-14T13:09:58.374Z,1628946598.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:09:58.559Z,1628946598.559 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100
2021-08-14T13:09:58.560Z,1628946598.560 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:09:58.870Z,1628946598.870 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:09:58.941Z,1628946598.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.879990 m, bearing: 316.940093 deg, deltaT: 4.819070 s, approachRate: -0.622527 m/s, LOS rate: 1.184583 deg/s, posRepo size: 4
2021-08-14T13:09:58.943Z,1628946598.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.879990 m,
      bearing: 316.940093 deg,
      approachRate: -0.622527 m/s,
      LOS rate: 1.184583 deg/s,
      cmd update: 3.553750 deg/s,
      cmd heading: 294.214947 deg,
      new cmd heading: 293.024581 deg.

2021-08-14T13:09:59.269Z,1628946599.269 [Micromodem](INFO): Nmea in: $CADRQ,131000,1,10,0,64,1*75

2021-08-14T13:09:59.270Z,1628946599.270 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100*4B

2021-08-14T13:09:59.674Z,1628946599.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130959.11*59

2021-08-14T13:09:59.674Z,1628946599.674 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,130959.11*59

2021-08-14T13:10:00.892Z,1628946600.892 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T13:10:01.304Z,1628946601.304 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T13:10:01.371Z,1628946601.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:01.679Z,1628946601.679 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:01.679Z,1628946601.679 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:01.679Z,1628946601.679 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:01.680Z,1628946601.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:01.687Z,1628946601.687 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T13:10:02.105Z,1628946602.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,010B1,186,80,80,A0,FF
2021-08-14T13:10:02.106Z,1628946602.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:02.106Z,1628946602.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:02.121Z,1628946602.121 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,131000.934448,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*51

2021-08-14T13:10:02.122Z,1628946602.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:02.488Z,1628946602.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:03.317Z,1628946603.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131003.77*5E

2021-08-14T13:10:03.919Z,1628946603.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:05.721Z,1628946605.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,A0,FF
2021-08-14T13:10:05.721Z,1628946605.721 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,A0,FF
2021-08-14T13:10:05.721Z,1628946605.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:10:06.214Z,1628946606.214 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:10:06.558Z,1628946606.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:06.933Z,1628946606.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:06.933Z,1628946606.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:06.933Z,1628946606.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:06.934Z,1628946606.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:07.337Z,1628946607.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,A0,FF
2021-08-14T13:10:07.337Z,1628946607.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:07.338Z,1628946607.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:07.339Z,1628946607.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:07.744Z,1628946607.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:08.681Z,1628946608.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,0103F,187,80,80,AA,FF
2021-08-14T13:10:08.682Z,1628946608.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:08.685Z,1628946608.685 [Micromodem](INFO): Nmea in: $SNTTA,0.143491,,,,131008.99*41

2021-08-14T13:10:09.139Z,1628946609.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.039993 m, bearing: 312.898916 deg, deltaT: 10.035072 s, approachRate: -0.681609 m/s, LOS rate: -0.402705 deg/s, posRepo size: 4
2021-08-14T13:10:09.141Z,1628946609.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.039993 m,
      bearing: 312.898916 deg,
      approachRate: -0.681609 m/s,
      LOS rate: -0.402705 deg/s,
      cmd update: -1.208116 deg/s,
      cmd heading: 329.859652 deg,
      new cmd heading: 331.330488 deg.

2021-08-14T13:10:11.558Z,1628946611.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:11.913Z,1628946611.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:11.913Z,1628946611.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:11.913Z,1628946611.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:11.914Z,1628946611.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:12.309Z,1628946612.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,0103F,187,80,80,AA,FF
2021-08-14T13:10:12.309Z,1628946612.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:12.310Z,1628946612.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:12.311Z,1628946612.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:12.724Z,1628946612.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:13.545Z,1628946613.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,01007,186,80,80,A4,FF
2021-08-14T13:10:13.545Z,1628946613.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:13.548Z,1628946613.548 [Micromodem](INFO): Nmea in: $SNTTA,0.407440,,,,131013.98*43

2021-08-14T13:10:13.970Z,1628946613.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.679993 m, bearing: 312.533474 deg, deltaT: 4.830453 s, approachRate: -0.695587 m/s, LOS rate: -0.075654 deg/s, posRepo size: 4
2021-08-14T13:10:13.972Z,1628946613.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.679993 m,
      bearing: 312.533474 deg,
      approachRate: -0.695587 m/s,
      LOS rate: -0.075654 deg/s,
      cmd update: -0.226962 deg/s,
      cmd heading: 324.013291 deg,
      new cmd heading: 323.523191 deg.

2021-08-14T13:10:16.090Z,1628946616.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:16.353Z,1628946616.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:16.354Z,1628946616.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:16.354Z,1628946616.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:16.355Z,1628946616.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:16.409Z,1628946616.409 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T13:10:16.766Z,1628946616.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,01007,186,80,80,A4,FF
2021-08-14T13:10:16.767Z,1628946616.767 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:16.767Z,1628946616.767 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:16.770Z,1628946616.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:17.309Z,1628946617.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:17.710Z,1628946617.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,00FD3,185,80,80,A2,FF
2021-08-14T13:10:17.710Z,1628946617.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:18.169Z,1628946618.169 [Micromodem](INFO): Nmea in: $SNTTA,0.143105,,,,131018.42*4E

2021-08-14T13:10:18.274Z,1628946618.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.559982 m, bearing: 311.737948 deg, deltaT: 4.167523 s, approachRate: -0.748649 m/s, LOS rate: -0.190887 deg/s, posRepo size: 4
2021-08-14T13:10:18.281Z,1628946618.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.559982 m,
      bearing: 311.737948 deg,
      approachRate: -0.748649 m/s,
      LOS rate: -0.190887 deg/s,
      cmd update: -0.572661 deg/s,
      cmd heading: 323.067446 deg,
      new cmd heading: 322.944250 deg.

2021-08-14T13:10:20.616Z,1628946620.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:20.941Z,1628946620.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:20.941Z,1628946620.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:20.941Z,1628946620.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:20.942Z,1628946620.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:21.693Z,1628946621.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,00FD3,185,80,80,A2,FF
2021-08-14T13:10:21.694Z,1628946621.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:21.694Z,1628946621.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:21.696Z,1628946621.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:22.129Z,1628946622.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:22.925Z,1628946622.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00F97,187,80,80,BB,FF
2021-08-14T13:10:22.926Z,1628946622.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:22.953Z,1628946622.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131023.34*5B

2021-08-14T13:10:23.550Z,1628946623.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.959991 m, bearing: 312.465227 deg, deltaT: 5.277563 s, approachRate: -0.682131 m/s, LOS rate: 0.137806 deg/s, posRepo size: 4
2021-08-14T13:10:23.569Z,1628946623.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.959991 m,
      bearing: 312.465227 deg,
      approachRate: -0.682131 m/s,
      LOS rate: 0.137806 deg/s,
      cmd update: 0.413417 deg/s,
      cmd heading: 320.050377 deg,
      new cmd heading: 319.736332 deg.

2021-08-14T13:10:25.810Z,1628946625.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:26.241Z,1628946626.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:26.241Z,1628946626.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:26.241Z,1628946626.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:26.242Z,1628946626.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:26.609Z,1628946626.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00F97,187,80,80,BB,FF
2021-08-14T13:10:26.609Z,1628946626.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:26.609Z,1628946626.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:26.611Z,1628946626.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:27.001Z,1628946627.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:27.825Z,1628946627.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00F5C,184,80,80,A8,FF
2021-08-14T13:10:27.826Z,1628946627.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:27.828Z,1628946627.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131028.26*53

2021-08-14T13:10:28.309Z,1628946628.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.419983 m, bearing: 312.352009 deg, deltaT: 4.874233 s, approachRate: -0.726270 m/s, LOS rate: -0.023228 deg/s, posRepo size: 4
2021-08-14T13:10:28.311Z,1628946628.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.419983 m,
      bearing: 312.352009 deg,
      approachRate: -0.726270 m/s,
      LOS rate: -0.023228 deg/s,
      cmd update: -0.069683 deg/s,
      cmd heading: 322.054410 deg,
      new cmd heading: 322.245030 deg.

2021-08-14T13:10:30.692Z,1628946630.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:31.059Z,1628946631.059 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:31.060Z,1628946631.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:31.061Z,1628946631.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:31.062Z,1628946631.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:31.457Z,1628946631.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00F5C,184,80,80,A8,FF
2021-08-14T13:10:31.457Z,1628946631.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:31.457Z,1628946631.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:31.459Z,1628946631.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:31.865Z,1628946631.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:32.677Z,1628946632.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00F21,184,80,80,B0,FF
2021-08-14T13:10:32.677Z,1628946632.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:32.685Z,1628946632.685 [Micromodem](INFO): Nmea in: $SNTTA,0.132790,,,,131033.11*4D

2021-08-14T13:10:33.115Z,1628946633.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.879990 m, bearing: 313.011232 deg, deltaT: 4.844703 s, approachRate: -0.730694 m/s, LOS rate: 0.136071 deg/s, posRepo size: 4
2021-08-14T13:10:33.122Z,1628946633.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.879990 m,
      bearing: 313.011232 deg,
      approachRate: -0.730694 m/s,
      LOS rate: 0.136071 deg/s,
      cmd update: 0.408212 deg/s,
      cmd heading: 321.714593 deg,
      new cmd heading: 321.687362 deg.

2021-08-14T13:10:35.611Z,1628946635.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:35.965Z,1628946635.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:35.965Z,1628946635.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:35.965Z,1628946635.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:35.966Z,1628946635.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:36.533Z,1628946636.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00F21,184,80,80,B0,FF
2021-08-14T13:10:36.533Z,1628946636.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:36.534Z,1628946636.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:36.535Z,1628946636.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:36.949Z,1628946636.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:37.358Z,1628946637.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00F21,184,80,80,B0,FF
2021-08-14T13:10:37.359Z,1628946637.359 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:37.794Z,1628946637.794 [Micromodem](INFO): Nmea in: $SNTTA,0.129725,,,,131038.18*4B

2021-08-14T13:10:37.816Z,1628946637.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.879990 m, bearing: 312.361736 deg, deltaT: 4.713647 s, approachRate: 0.000000 m/s, LOS rate: -0.137791 deg/s, posRepo size: 4
2021-08-14T13:10:37.818Z,1628946637.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.879990 m,
      bearing: 312.361736 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.137791 deg/s,
      cmd update: -0.413372 deg/s,
      cmd heading: 323.637917 deg,
      new cmd heading: 323.793092 deg.

2021-08-14T13:10:40.469Z,1628946640.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:40.633Z,1628946640.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:40.633Z,1628946640.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:40.633Z,1628946640.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:40.634Z,1628946640.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:41.040Z,1628946641.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00F21,184,80,80,B0,FF
2021-08-14T13:10:41.041Z,1628946641.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:41.041Z,1628946641.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:41.047Z,1628946641.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:41.158Z,1628946641.158 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T13:10:41.448Z,1628946641.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:42.259Z,1628946642.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00EB5,184,80,80,AD,FF
2021-08-14T13:10:42.260Z,1628946642.260 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:42.263Z,1628946642.263 [Micromodem](INFO): Nmea in: $SNTTA,0.127685,,,,131042.70*4D

2021-08-14T13:10:42.852Z,1628946642.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.399994 m, bearing: 312.820369 deg, deltaT: 5.062989 s, approachRate: -1.279876 m/s, LOS rate: 0.090586 deg/s, posRepo size: 4
2021-08-14T13:10:42.855Z,1628946642.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.399994 m,
      bearing: 312.820369 deg,
      approachRate: -1.279876 m/s,
      LOS rate: 0.090586 deg/s,
      cmd update: 0.271757 deg/s,
      cmd heading: 321.542630 deg,
      new cmd heading: 321.404102 deg.

2021-08-14T13:10:45.270Z,1628946645.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:45.621Z,1628946645.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:45.621Z,1628946645.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:45.621Z,1628946645.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:45.622Z,1628946645.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:46.042Z,1628946646.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00EB5,184,80,80,AD,FF
2021-08-14T13:10:46.042Z,1628946646.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:46.043Z,1628946646.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:46.049Z,1628946646.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:46.452Z,1628946646.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:46.881Z,1628946646.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00E78,184,80,80,AD,FF
2021-08-14T13:10:46.882Z,1628946646.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:47.313Z,1628946647.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131047.69*51

2021-08-14T13:10:47.350Z,1628946647.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 313.222995 deg, deltaT: 4.429749 s, approachRate: -0.826233 m/s, LOS rate: 0.090891 deg/s, posRepo size: 4
2021-08-14T13:10:47.353Z,1628946647.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 313.222995 deg,
      approachRate: -0.826233 m/s,
      LOS rate: 0.090891 deg/s,
      cmd update: 0.272674 deg/s,
      cmd heading: 322.745387 deg,
      new cmd heading: 322.859540 deg.

2021-08-14T13:10:49.797Z,1628946649.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:50.121Z,1628946650.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:50.122Z,1628946650.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:50.122Z,1628946650.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:50.123Z,1628946650.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:50.521Z,1628946650.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,00E78,184,80,80,AD,FF
2021-08-14T13:10:50.521Z,1628946650.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:50.521Z,1628946650.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:50.523Z,1628946650.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:50.940Z,1628946650.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:51.338Z,1628946651.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00E78,184,80,80,AD,FF
2021-08-14T13:10:51.338Z,1628946651.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:51.778Z,1628946651.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131052.17*5C

2021-08-14T13:10:51.806Z,1628946651.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 312.907659 deg, deltaT: 4.470041 s, approachRate: 0.000000 m/s, LOS rate: -0.070544 deg/s, posRepo size: 4
2021-08-14T13:10:51.808Z,1628946651.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 312.907659 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.070544 deg/s,
      cmd update: -0.211633 deg/s,
      cmd heading: 323.963137 deg,
      new cmd heading: 324.074823 deg.

2021-08-14T13:10:54.305Z,1628946654.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:54.573Z,1628946654.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:54.573Z,1628946654.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:54.573Z,1628946654.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:54.574Z,1628946654.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:54.981Z,1628946654.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00E78,184,80,80,AD,FF
2021-08-14T13:10:54.981Z,1628946654.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:54.981Z,1628946654.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:54.983Z,1628946654.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:10:55.581Z,1628946655.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:10:55.974Z,1628946655.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00E0D,186,80,80,B3,FF
2021-08-14T13:10:55.975Z,1628946655.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:10:56.385Z,1628946656.385 [Micromodem](INFO): Nmea in: $SNTTA,0.490144,0.489788,,,131056.63*55

2021-08-14T13:10:56.457Z,1628946656.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 312.733052 deg, deltaT: 4.587166 s, approachRate: -1.399557 m/s, LOS rate: -0.038064 deg/s, posRepo size: 4
2021-08-14T13:10:56.459Z,1628946656.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 312.733052 deg,
      approachRate: -1.399557 m/s,
      LOS rate: -0.038064 deg/s,
      cmd update: -0.114193 deg/s,
      cmd heading: 322.990608 deg,
      new cmd heading: 322.895640 deg.

2021-08-14T13:10:58.438Z,1628946658.438 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T13:10:58.858Z,1628946658.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:10:59.210Z,1628946659.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:10:59.210Z,1628946659.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:10:59.210Z,1628946659.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:10:59.211Z,1628946659.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:10:59.609Z,1628946659.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00E0D,186,80,80,B3,FF
2021-08-14T13:10:59.609Z,1628946659.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:10:59.609Z,1628946659.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:10:59.611Z,1628946659.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:00.013Z,1628946660.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:00.418Z,1628946660.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00E0D,186,80,80,B3,FF
2021-08-14T13:11:00.419Z,1628946660.419 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:00.861Z,1628946660.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131101.26*59

2021-08-14T13:11:00.896Z,1628946660.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 312.444517 deg, deltaT: 4.547580 s, approachRate: 0.000000 m/s, LOS rate: -0.063448 deg/s, posRepo size: 4
2021-08-14T13:11:00.898Z,1628946660.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 312.444517 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.063448 deg/s,
      cmd update: -0.190344 deg/s,
      cmd heading: 322.471769 deg,
      new cmd heading: 322.430616 deg.

2021-08-14T13:11:03.305Z,1628946663.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:03.665Z,1628946663.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:03.665Z,1628946663.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:03.665Z,1628946663.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:03.666Z,1628946663.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:03.670Z,1628946663.670 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:11:04.079Z,1628946664.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00E0D,186,80,80,B3,FF
2021-08-14T13:11:04.079Z,1628946664.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:04.079Z,1628946664.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:04.082Z,1628946664.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:04.477Z,1628946664.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:04.746Z,1628946664.746 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100
2021-08-14T13:11:04.746Z,1628946664.746 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:11:05.030Z,1628946665.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00DA4,187,80,80,5C,FF
2021-08-14T13:11:05.031Z,1628946665.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:05.033Z,1628946665.033 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:11:05.447Z,1628946665.447 [Micromodem](INFO): Nmea in: $CADRQ,131106,1,10,0,64,1*72

2021-08-14T13:11:05.447Z,1628946665.447 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100*4B

2021-08-14T13:11:05.740Z,1628946665.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.020004 m, bearing: 312.193003 deg, deltaT: 4.571381 s, approachRate: -1.378137 m/s, LOS rate: -0.055019 deg/s, posRepo size: 4
2021-08-14T13:11:05.742Z,1628946665.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.020004 m,
      bearing: 312.193003 deg,
      approachRate: -1.378137 m/s,
      LOS rate: -0.055019 deg/s,
      cmd update: -0.165058 deg/s,
      cmd heading: 321.602370 deg,
      new cmd heading: 321.481045 deg.

2021-08-14T13:11:06.025Z,1628946666.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131105.73*5D

2021-08-14T13:11:06.026Z,1628946666.026 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,131105.73*5D

2021-08-14T13:11:06.448Z,1628946666.448 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T13:11:07.237Z,1628946667.237 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T13:11:07.630Z,1628946667.630 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T13:11:07.842Z,1628946667.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:08.046Z,1628946668.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:08.046Z,1628946668.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:08.047Z,1628946668.047 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:08.049Z,1628946668.049 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:08.054Z,1628946668.054 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T13:11:08.433Z,1628946668.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00DA4,187,80,80,5C,FF
2021-08-14T13:11:08.433Z,1628946668.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:08.433Z,1628946668.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:08.436Z,1628946668.436 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,131107.114319,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-14T13:11:08.437Z,1628946668.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:08.853Z,1628946668.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:09.714Z,1628946669.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131110.09*54

2021-08-14T13:11:10.533Z,1628946670.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:12.097Z,1628946672.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,5C,FF
2021-08-14T13:11:12.097Z,1628946672.097 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,5C,FF
2021-08-14T13:11:12.097Z,1628946672.097 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:11:13.056Z,1628946673.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:13.405Z,1628946673.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:13.406Z,1628946673.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:13.406Z,1628946673.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:13.407Z,1628946673.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:13.821Z,1628946673.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,5C,FF
2021-08-14T13:11:13.821Z,1628946673.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:13.821Z,1628946673.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:13.823Z,1628946673.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:14.248Z,1628946674.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:14.620Z,1628946674.620 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,,E4
4,187,80,80,5C,FF
2021-08-14T13:11:14.620Z,1628946674.620 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,065,000,,E4
4,187,80,80,5C,FF
2021-08-14T13:11:15.039Z,1628946675.039 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131115.47*5B

2021-08-14T13:11:15.875Z,1628946675.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:16.308Z,1628946676.308 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:11:18.710Z,1628946678.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:19.472Z,1628946679.472 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065398
2021-08-14T13:11:21.510Z,1628946681.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:21.885Z,1628946681.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:21.885Z,1628946681.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:21.885Z,1628946681.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:21.886Z,1628946681.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:22.293Z,1628946682.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,,E4
4,187,80,80,5C,FF
2021-08-14T13:11:22.293Z,1628946682.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:22.294Z,1628946682.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:22.295Z,1628946682.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:22.709Z,1628946682.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:23.125Z,1628946683.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00CC8,184,80,80,6E,FF
2021-08-14T13:11:23.126Z,1628946683.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:23.538Z,1628946683.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131123.95*51

2021-08-14T13:11:23.572Z,1628946683.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.819992 m, bearing: 313.010986 deg, deltaT: 18.042998 s, approachRate: -0.731586 m/s, LOS rate: 0.045335 deg/s, posRepo size: 4
2021-08-14T13:11:23.574Z,1628946683.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.819992 m,
      bearing: 313.010986 deg,
      approachRate: -0.731586 m/s,
      LOS rate: 0.045335 deg/s,
      cmd update: 0.136006 deg/s,
      cmd heading: 318.622911 deg,
      new cmd heading: 318.553928 deg.

2021-08-14T13:11:25.685Z,1628946685.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:26.017Z,1628946686.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:26.017Z,1628946686.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:26.017Z,1628946686.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:26.018Z,1628946686.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:26.621Z,1628946686.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00CC8,184,80,80,6E,FF
2021-08-14T13:11:26.621Z,1628946686.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:26.621Z,1628946686.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:26.623Z,1628946686.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:27.005Z,1628946687.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:27.428Z,1628946687.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00C92,185,80,80,6E,FF
2021-08-14T13:11:27.428Z,1628946687.428 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:27.833Z,1628946687.833 [Micromodem](INFO): Nmea in: $SNTTA,0.103488,,,,131128.27*4B

2021-08-14T13:11:27.849Z,1628946687.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.580002 m, bearing: 313.060355 deg, deltaT: 4.357649 s, approachRate: -0.743518 m/s, LOS rate: 0.011329 deg/s, posRepo size: 4
2021-08-14T13:11:27.851Z,1628946687.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.580002 m,
      bearing: 313.060355 deg,
      approachRate: -0.743518 m/s,
      LOS rate: 0.011329 deg/s,
      cmd update: 0.033988 deg/s,
      cmd heading: 319.214620 deg,
      new cmd heading: 319.261438 deg.

2021-08-14T13:11:30.478Z,1628946690.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:30.685Z,1628946690.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:30.685Z,1628946690.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:30.685Z,1628946690.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:30.686Z,1628946690.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:31.082Z,1628946691.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00C92,185,80,80,6E,FF
2021-08-14T13:11:31.082Z,1628946691.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:31.082Z,1628946691.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:31.084Z,1628946691.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:31.500Z,1628946691.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:31.874Z,1628946691.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00C61,185,80,80,6E,FF
2021-08-14T13:11:31.874Z,1628946691.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:32.322Z,1628946692.322 [Micromodem](INFO): Nmea in: $SNTTA,0.479629,0.479998,,,131132.73*5C

2021-08-14T13:11:32.572Z,1628946692.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.640015 m, bearing: 312.780809 deg, deltaT: 4.424621 s, approachRate: -0.664461 m/s, LOS rate: -0.063180 deg/s, posRepo size: 4
2021-08-14T13:11:32.574Z,1628946692.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.640015 m,
      bearing: 312.780809 deg,
      approachRate: -0.664461 m/s,
      LOS rate: -0.063180 deg/s,
      cmd update: -0.189539 deg/s,
      cmd heading: 319.365103 deg,
      new cmd heading: 319.386311 deg.

2021-08-14T13:11:34.462Z,1628946694.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:34.778Z,1628946694.778 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:34.778Z,1628946694.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:34.778Z,1628946694.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:34.779Z,1628946694.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:35.185Z,1628946695.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00C61,185,80,80,6E,FF
2021-08-14T13:11:35.185Z,1628946695.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:35.186Z,1628946695.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:35.187Z,1628946695.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:35.593Z,1628946695.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:35.000Z,1628946696.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00C2A,184,80,80,B4,FF
2021-08-14T13:11:36.000Z,1628946696.000 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:36.417Z,1628946696.417 [Micromodem](INFO): Nmea in: $SNTTA,0.385845,0.386620,,,131136.83*5C

2021-08-14T13:11:36.509Z,1628946696.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.339996 m, bearing: 312.454216 deg, deltaT: 4.083143 s, approachRate: -0.808205 m/s, LOS rate: -0.079986 deg/s, posRepo size: 4
2021-08-14T13:11:36.511Z,1628946696.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.339996 m,
      bearing: 312.454216 deg,
      approachRate: -0.808205 m/s,
      LOS rate: -0.079986 deg/s,
      cmd update: -0.239957 deg/s,
      cmd heading: 318.590631 deg,
      new cmd heading: 318.498293 deg.

2021-08-14T13:11:39.035Z,1628946699.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:39.241Z,1628946699.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:39.241Z,1628946699.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:39.241Z,1628946699.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:39.242Z,1628946699.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:39.653Z,1628946699.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00C2A,184,80,80,B4,FF
2021-08-14T13:11:39.653Z,1628946699.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:39.653Z,1628946699.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:39.655Z,1628946699.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:40.078Z,1628946700.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:40.477Z,1628946700.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00BF3,183,80,80,9F,FF
2021-08-14T13:11:40.478Z,1628946700.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:40.894Z,1628946700.894 [Micromodem](INFO): Nmea in: $SNTTA,0.099432,,,,131141.30*41

2021-08-14T13:11:40.909Z,1628946700.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.039993 m, bearing: 313.604584 deg, deltaT: 4.572686 s, approachRate: -0.721677 m/s, LOS rate: 0.251574 deg/s, posRepo size: 4
2021-08-14T13:11:40.911Z,1628946700.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.039993 m,
      bearing: 313.604584 deg,
      approachRate: -0.721677 m/s,
      LOS rate: 0.251574 deg/s,
      cmd update: 0.754721 deg/s,
      cmd heading: 317.498670 deg,
      new cmd heading: 317.417015 deg.

2021-08-14T13:11:42.522Z,1628946702.522 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T13:11:42.522Z,1628946702.522 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T13:11:42.522Z,1628946702.522 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T13:11:42.648Z,1628946702.648 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T13:11:42.981Z,1628946702.981 [RDI_Pathfinder](INFO): Powering down
2021-08-14T13:11:43.493Z,1628946703.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:43.697Z,1628946703.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:43.697Z,1628946703.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:43.697Z,1628946703.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:43.698Z,1628946703.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:43.860Z,1628946703.860 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T13:11:43.860Z,1628946703.860 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T13:11:44.113Z,1628946704.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00BF3,183,80,80,9F,FF
2021-08-14T13:11:44.113Z,1628946704.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:44.113Z,1628946704.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:44.115Z,1628946704.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:44.519Z,1628946704.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:44.887Z,1628946704.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00BBF,183,80,80,9F,FF
2021-08-14T13:11:44.888Z,1628946704.888 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:45.329Z,1628946705.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131145.76*5C

2021-08-14T13:11:45.545Z,1628946705.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.919998 m, bearing: 312.979922 deg, deltaT: 4.361201 s, approachRate: -0.715398 m/s, LOS rate: -0.143232 deg/s, posRepo size: 4
2021-08-14T13:11:45.547Z,1628946705.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.919998 m,
      bearing: 312.979922 deg,
      approachRate: -0.715398 m/s,
      LOS rate: -0.143232 deg/s,
      cmd update: -0.429695 deg/s,
      cmd heading: 320.786284 deg,
      new cmd heading: 321.254162 deg.

2021-08-14T13:11:47.798Z,1628946707.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:48.157Z,1628946708.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:48.157Z,1628946708.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:48.157Z,1628946708.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:48.158Z,1628946708.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:48.578Z,1628946708.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00BBF,183,80,80,9F,FF
2021-08-14T13:11:48.578Z,1628946708.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:48.578Z,1628946708.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:48.580Z,1628946708.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:48.979Z,1628946708.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:49.389Z,1628946709.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00B86,184,80,80,A8,FF
2021-08-14T13:11:49.389Z,1628946709.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:49.809Z,1628946709.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131150.23*58

2021-08-14T13:11:50.004Z,1628946710.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.500000 m, bearing: 311.978289 deg, deltaT: 4.506529 s, approachRate: -0.758898 m/s, LOS rate: -0.222263 deg/s, posRepo size: 4
2021-08-14T13:11:50.006Z,1628946710.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.500000 m,
      bearing: 311.978289 deg,
      approachRate: -0.758898 m/s,
      LOS rate: -0.222263 deg/s,
      cmd update: -0.666788 deg/s,
      cmd heading: 318.849733 deg,
      new cmd heading: 318.603866 deg.

2021-08-14T13:11:52.152Z,1628946712.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:52.305Z,1628946712.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:52.305Z,1628946712.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:52.305Z,1628946712.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:52.306Z,1628946712.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:52.714Z,1628946712.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00B86,184,80,80,A8,FF
2021-08-14T13:11:52.714Z,1628946712.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:52.714Z,1628946712.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:52.716Z,1628946712.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:53.124Z,1628946713.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:53.529Z,1628946713.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00B57,185,80,80,C0,FF
2021-08-14T13:11:53.530Z,1628946713.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:53.953Z,1628946713.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131154.36*58

2021-08-14T13:11:53.983Z,1628946713.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.680008 m, bearing: 312.109456 deg, deltaT: 4.115382 s, approachRate: -0.685232 m/s, LOS rate: 0.031872 deg/s, posRepo size: 4
2021-08-14T13:11:53.985Z,1628946713.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.680008 m,
      bearing: 312.109456 deg,
      approachRate: -0.685232 m/s,
      LOS rate: 0.031872 deg/s,
      cmd update: 0.095617 deg/s,
      cmd heading: 316.089741 deg,
      new cmd heading: 315.814957 deg.

2021-08-14T13:11:56.596Z,1628946716.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:11:56.749Z,1628946716.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:11:56.749Z,1628946716.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:11:56.749Z,1628946716.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:11:56.750Z,1628946716.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:11:57.153Z,1628946717.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00B57,185,80,80,C0,FF
2021-08-14T13:11:57.153Z,1628946717.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:11:57.154Z,1628946717.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:11:57.155Z,1628946717.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:11:57.565Z,1628946717.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:11:57.961Z,1628946717.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,004B5,183,80,80,BB,FF
2021-08-14T13:11:57.961Z,1628946717.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:11:58.405Z,1628946718.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131158.80*59

2021-08-14T13:11:58.632Z,1628946718.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.799999 m, bearing: 312.385668 deg, deltaT: 4.430322 s, approachRate: -22.996073 m/s, LOS rate: 0.062346 deg/s, posRepo size: 4
2021-08-14T13:11:58.633Z,1628946718.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.80 m.
2021-08-14T13:11:58.635Z,1628946718.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.799999 m,
      bearing: 312.385668 deg,
      approachRate: -22.996073 m/s,
      LOS rate: 0.062346 deg/s,
      cmd update: 0.187038 deg/s,
      cmd heading: 316.513766 deg,
      new cmd heading: 316.573678 deg.

2021-08-14T13:11:58.883Z,1628946718.883 [PowerOnly](INFO): Powering up loadControl
2021-08-14T13:11:58.913Z,1628946718.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:11:58.914Z,1628946718.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:11:58.914Z,1628946718.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:11:58.915Z,1628946718.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:11:58.915Z,1628946718.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:11:58.915Z,1628946718.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:11:59.302Z,1628946719.302 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:11:59.302Z,1628946719.302 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:11:59.303Z,1628946719.303 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:11:59.303Z,1628946719.303 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:12:00.102Z,1628946720.102 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:12:00.525Z,1628946720.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:00.845Z,1628946720.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:00.845Z,1628946720.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:00.845Z,1628946720.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:00.846Z,1628946720.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:01.264Z,1628946721.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,004B5,183,80,80,BB,FF
2021-08-14T13:12:01.264Z,1628946721.264 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:01.264Z,1628946721.264 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:01.266Z,1628946721.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:01.663Z,1628946721.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:02.084Z,1628946722.084 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00AEB,184,80,80,82,FF
2021-08-14T13:12:02.084Z,1628946722.084 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:02.104Z,1628946722.104 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:12:02.153Z,1628946722.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:12:02.489Z,1628946722.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131202.91*55

2021-08-14T13:12:02.570Z,1628946722.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.199997 m, bearing: 309.983600 deg, deltaT: 4.145409 s, approachRate: 23.013409 m/s, LOS rate: -0.579453 deg/s, posRepo size: 4
2021-08-14T13:12:02.576Z,1628946722.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.199997 m,
      bearing: 309.983600 deg,
      approachRate: 23.013409 m/s,
      LOS rate: -0.579453 deg/s,
      cmd update: -1.738358 deg/s,
      cmd heading: 317.287252 deg,
      new cmd heading: 317.367551 deg.

2021-08-14T13:12:03.115Z,1628946723.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:12:03.115Z,1628946723.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:12:03.115Z,1628946723.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:12:03.115Z,1628946723.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:12:03.116Z,1628946723.116 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:12:03.116Z,1628946723.116 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:12:03.366Z,1628946723.366 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:12:03.367Z,1628946723.367 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:12:03.367Z,1628946723.367 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:12:03.367Z,1628946723.367 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:12:05.200Z,1628946725.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:05.433Z,1628946725.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:05.434Z,1628946725.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:05.434Z,1628946725.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:05.435Z,1628946725.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:05.841Z,1628946725.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00AEB,184,80,80,82,FF
2021-08-14T13:12:05.841Z,1628946725.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:05.841Z,1628946725.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:05.843Z,1628946725.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:06.281Z,1628946726.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:06.653Z,1628946726.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00AB6,183,80,80,7E,FF
2021-08-14T13:12:06.653Z,1628946726.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:07.090Z,1628946727.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131207.49*55

2021-08-14T13:12:07.128Z,1628946727.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.019997 m, bearing: 307.794880 deg, deltaT: 4.520765 s, approachRate: -0.703421 m/s, LOS rate: -0.484148 deg/s, posRepo size: 4
2021-08-14T13:12:07.130Z,1628946727.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.019997 m,
      bearing: 307.794880 deg,
      approachRate: -0.703421 m/s,
      LOS rate: -0.484148 deg/s,
      cmd update: -1.452445 deg/s,
      cmd heading: 309.411796 deg,
      new cmd heading: 308.617369 deg.

2021-08-14T13:12:09.199Z,1628946729.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:09.473Z,1628946729.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:09.473Z,1628946729.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:09.474Z,1628946729.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:09.474Z,1628946729.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:09.909Z,1628946729.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00AB6,183,80,80,7E,FF
2021-08-14T13:12:09.909Z,1628946729.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:09.909Z,1628946729.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:09.911Z,1628946729.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:10.312Z,1628946730.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:10.324Z,1628946730.324 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:12:10.730Z,1628946730.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFD,000,00A88,182,80,80,B6,FF
2021-08-14T13:12:10.730Z,1628946730.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:11.546Z,1628946731.546 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100
2021-08-14T13:12:11.546Z,1628946731.546 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:12:11.913Z,1628946731.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131211.56*5C

2021-08-14T13:12:11.913Z,1628946731.913 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,131211.56*5C

2021-08-14T13:12:11.972Z,1628946731.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.260002 m, bearing: 307.943013 deg, deltaT: 4.982858 s, approachRate: -0.553898 m/s, LOS rate: 0.029729 deg/s, posRepo size: 4
2021-08-14T13:12:11.974Z,1628946731.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.260002 m,
      bearing: 307.943013 deg,
      approachRate: -0.553898 m/s,
      LOS rate: 0.029729 deg/s,
      cmd update: 0.089186 deg/s,
      cmd heading: 302.180250 deg,
      new cmd heading: 301.718843 deg.

2021-08-14T13:12:13.158Z,1628946733.158 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:12:13.542Z,1628946733.542 [Micromodem](INFO): Nmea in: $CADRQ,131213,1,10,0,64,1*75

2021-08-14T13:12:13.543Z,1628946733.543 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17610F0000005D00000400260000000000000000151D80030C5669C08C799845D61D74695044214076F5DC148A6A604CC7402A469426C22DB100*4B

2021-08-14T13:12:13.958Z,1628946733.958 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T13:12:14.354Z,1628946734.354 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T13:12:14.437Z,1628946734.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:14.761Z,1628946734.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:14.761Z,1628946734.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:14.761Z,1628946734.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:14.762Z,1628946734.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:15.166Z,1628946735.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFD,000,00A88,182,80,80,B6,FF
2021-08-14T13:12:15.166Z,1628946735.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:15.166Z,1628946735.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:15.167Z,1628946735.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:15.598Z,1628946735.598 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T13:12:15.598Z,1628946735.598 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T13:12:15.971Z,1628946735.971 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,131215.213894,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T13:12:15.971Z,1628946735.971 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,131215.213894,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T13:12:17.007Z,1628946737.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:17.640Z,1628946737.640 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T13:12:17.641Z,1628946737.641 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T125729/Courier0015.lzma.parts
2021-08-14T13:12:17.641Z,1628946737.641 [Micromodem](INFO): Packets left to send: 0
2021-08-14T13:12:17.998Z,1628946737.998 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814131218.195749,06,32767,45,0124,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,11.8,12.28,23,-9.28,-01,-0.42,45,14500,4000*74

2021-08-14T13:12:17.999Z,1628946737.999 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814131218.195749,06,32767,45,0124,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,11.8,12.28,23,-9.28,-01,-0.42,45,14500,4000*74

2021-08-14T13:12:18.328Z,1628946738.328 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T13:12:18.329Z,1628946738.329 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T13:12:18.329Z,1628946738.329 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T13:12:18.329Z,1628946738.329 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:12:18.329Z,1628946738.329 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T13:12:19.683Z,1628946739.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:21.088Z,1628946741.088 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.325966
2021-08-14T13:12:22.340Z,1628946742.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:22.684Z,1628946742.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:22.684Z,1628946742.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:22.685Z,1628946742.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:22.685Z,1628946742.685 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:23.093Z,1628946743.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFD,000,00A88,182,80,80,B6,FF
2021-08-14T13:12:23.093Z,1628946743.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:23.093Z,1628946743.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:25.163Z,1628946745.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:26.348Z,1628946746.348 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:26.736Z,1628946746.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:27.133Z,1628946747.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,009D4,187,80,80,7C,FF
2021-08-14T13:12:27.133Z,1628946747.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:27.553Z,1628946747.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131228.00*55

2021-08-14T13:12:27.569Z,1628946747.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.459999 m, bearing: 307.904054 deg, deltaT: 15.506312 s, approachRate: -0.696491 m/s, LOS rate: -0.002512 deg/s, posRepo size: 4
2021-08-14T13:12:27.571Z,1628946747.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.459999 m,
      bearing: 307.904054 deg,
      approachRate: -0.696491 m/s,
      LOS rate: -0.002512 deg/s,
      cmd update: -0.007537 deg/s,
      cmd heading: 303.563551 deg,
      new cmd heading: 303.599969 deg.

2021-08-14T13:12:29.975Z,1628946749.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:30.349Z,1628946750.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:30.349Z,1628946750.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:30.350Z,1628946750.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:30.351Z,1628946750.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:30.767Z,1628946750.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,009D4,187,80,80,7C,FF
2021-08-14T13:12:30.768Z,1628946750.768 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:30.768Z,1628946750.768 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:30.771Z,1628946750.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:31.161Z,1628946751.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:31.578Z,1628946751.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,0099F,186,80,80,C1,FF
2021-08-14T13:12:31.578Z,1628946751.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:31.989Z,1628946751.989 [Micromodem](INFO): Nmea in: $SNTTA,0.085767,,,,131232.42*4D

2021-08-14T13:12:32.012Z,1628946752.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.280006 m, bearing: 306.000070 deg, deltaT: 4.435398 s, approachRate: -0.716958 m/s, LOS rate: -0.429270 deg/s, posRepo size: 4
2021-08-14T13:12:32.014Z,1628946752.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.280006 m,
      bearing: 306.000070 deg,
      approachRate: -0.716958 m/s,
      LOS rate: -0.429270 deg/s,
      cmd update: -1.287810 deg/s,
      cmd heading: 303.530118 deg,
      new cmd heading: 303.526986 deg.

2021-08-14T13:12:34.456Z,1628946754.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:34.802Z,1628946754.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:34.802Z,1628946754.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:34.802Z,1628946754.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:34.803Z,1628946754.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:35.193Z,1628946755.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,0099F,186,80,80,C1,FF
2021-08-14T13:12:35.193Z,1628946755.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:35.194Z,1628946755.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:35.195Z,1628946755.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:35.607Z,1628946755.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:36.005Z,1628946756.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,0096B,186,80,80,99,FF
2021-08-14T13:12:36.005Z,1628946756.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:36.426Z,1628946756.426 [Micromodem](INFO): Nmea in: $SNTTA,0.083504,0.396717,,,131236.84*51

2021-08-14T13:12:36.530Z,1628946756.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.160004 m, bearing: 309.532043 deg, deltaT: 4.498116 s, approachRate: -0.693624 m/s, LOS rate: 0.785212 deg/s, posRepo size: 4
2021-08-14T13:12:36.536Z,1628946756.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.160004 m,
      bearing: 309.532043 deg,
      approachRate: -0.693624 m/s,
      LOS rate: 0.785212 deg/s,
      cmd update: 2.355635 deg/s,
      cmd heading: 297.749512 deg,
      new cmd heading: 297.176464 deg.

2021-08-14T13:12:38.877Z,1628946758.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:39.233Z,1628946759.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:39.233Z,1628946759.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:39.233Z,1628946759.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:39.234Z,1628946759.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:39.639Z,1628946759.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,0096B,186,80,80,99,FF
2021-08-14T13:12:39.639Z,1628946759.639 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:39.640Z,1628946759.640 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:39.643Z,1628946759.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:40.072Z,1628946760.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:40.451Z,1628946760.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,00937,187,80,80,B0,FF
2021-08-14T13:12:40.452Z,1628946760.452 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:40.877Z,1628946760.877 [Micromodem](INFO): Nmea in: $SNTTA,,0.083468,,,131241.29*4E

2021-08-14T13:12:40.919Z,1628946760.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.040001 m, bearing: 310.604956 deg, deltaT: 4.476049 s, approachRate: -0.697044 m/s, LOS rate: 0.239701 deg/s, posRepo size: 4
2021-08-14T13:12:40.921Z,1628946760.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.040001 m,
      bearing: 310.604956 deg,
      approachRate: -0.697044 m/s,
      LOS rate: 0.239701 deg/s,
      cmd update: 0.719103 deg/s,
      cmd heading: 308.304659 deg,
      new cmd heading: 309.136285 deg.

2021-08-14T13:12:43.314Z,1628946763.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:43.689Z,1628946763.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:43.689Z,1628946763.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:43.689Z,1628946763.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:43.689Z,1628946763.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:44.117Z,1628946764.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,00937,187,80,80,B0,FF
2021-08-14T13:12:44.117Z,1628946764.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:44.118Z,1628946764.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:44.119Z,1628946764.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:44.485Z,1628946764.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:44.889Z,1628946764.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00906,186,80,80,88,FF
2021-08-14T13:12:44.890Z,1628946764.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:45.312Z,1628946765.312 [Micromodem](INFO): Nmea in: $SNTTA,0.069580,,,,131245.77*42

2021-08-14T13:12:45.374Z,1628946765.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.099998 m, bearing: 309.225258 deg, deltaT: 4.364962 s, approachRate: -0.673546 m/s, LOS rate: -0.316085 deg/s, posRepo size: 4
2021-08-14T13:12:45.396Z,1628946765.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.099998 m,
      bearing: 309.225258 deg,
      approachRate: -0.673546 m/s,
      LOS rate: -0.316085 deg/s,
      cmd update: -0.948254 deg/s,
      cmd heading: 311.446829 deg,
      new cmd heading: 311.761168 deg.

2021-08-14T13:12:47.762Z,1628946767.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:48.125Z,1628946768.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:48.125Z,1628946768.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:48.125Z,1628946768.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:48.126Z,1628946768.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:48.521Z,1628946768.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00906,186,80,80,88,FF
2021-08-14T13:12:48.521Z,1628946768.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:48.521Z,1628946768.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:48.523Z,1628946768.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:48.933Z,1628946768.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:49.329Z,1628946769.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,008D7,184,80,80,8E,FF
2021-08-14T13:12:49.329Z,1628946769.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:49.790Z,1628946769.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131250.17*5C

2021-08-14T13:12:49.814Z,1628946769.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.280006 m, bearing: 303.746627 deg, deltaT: 4.477842 s, approachRate: -0.629766 m/s, LOS rate: -1.223498 deg/s, posRepo size: 4
2021-08-14T13:12:49.816Z,1628946769.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.280006 m,
      bearing: 303.746627 deg,
      approachRate: -0.629766 m/s,
      LOS rate: -1.223498 deg/s,
      cmd update: -3.670494 deg/s,
      cmd heading: 307.216053 deg,
      new cmd heading: 306.821464 deg.

2021-08-14T13:12:50.164Z,1628946770.164 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T13:12:52.246Z,1628946772.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:52.561Z,1628946772.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:52.561Z,1628946772.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:52.561Z,1628946772.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:52.562Z,1628946772.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:52.973Z,1628946772.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,008D7,184,80,80,8E,FF
2021-08-14T13:12:52.974Z,1628946772.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:52.974Z,1628946772.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:52.975Z,1628946772.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:53.397Z,1628946773.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:53.782Z,1628946773.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,008A6,185,80,80,95,FF
2021-08-14T13:12:53.783Z,1628946773.783 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:54.249Z,1628946774.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 301.856358 deg, deltaT: 4.420815 s, approachRate: -0.665036 m/s, LOS rate: -0.427584 deg/s, posRepo size: 4
2021-08-14T13:12:54.253Z,1628946774.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.340004 m,
      bearing: 301.856358 deg,
      approachRate: -0.665036 m/s,
      LOS rate: -0.427584 deg/s,
      cmd update: -1.282751 deg/s,
      cmd heading: 290.944466 deg,
      new cmd heading: 289.406140 deg.

2021-08-14T13:12:56.341Z,1628946776.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:12:56.605Z,1628946776.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:12:56.605Z,1628946776.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:12:56.605Z,1628946776.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:12:56.606Z,1628946776.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:12:57.005Z,1628946777.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,008A6,185,80,80,95,FF
2021-08-14T13:12:57.005Z,1628946777.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:12:57.005Z,1628946777.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:12:57.007Z,1628946777.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:12:57.421Z,1628946777.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:12:57.829Z,1628946777.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0087A,187,80,80,A4,FF
2021-08-14T13:12:57.830Z,1628946777.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:12:58.282Z,1628946778.282 [Micromodem](INFO): Nmea in: $SNTTA,0.065248,,,,131258.65*42

2021-08-14T13:12:58.382Z,1628946778.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.700005 m, bearing: 305.479009 deg, deltaT: 4.012845 s, approachRate: -0.657887 m/s, LOS rate: 0.902764 deg/s, posRepo size: 4
2021-08-14T13:12:58.388Z,1628946778.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.700005 m,
      bearing: 305.479009 deg,
      approachRate: -0.657887 m/s,
      LOS rate: 0.902764 deg/s,
      cmd update: 2.708291 deg/s,
      cmd heading: 285.791945 deg,
      new cmd heading: 285.112520 deg.

2021-08-14T13:13:00.789Z,1628946780.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:01.057Z,1628946781.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:01.058Z,1628946781.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:01.058Z,1628946781.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:01.060Z,1628946781.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:01.462Z,1628946781.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0087A,187,80,80,A4,FF
2021-08-14T13:13:01.462Z,1628946781.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:01.462Z,1628946781.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:01.464Z,1628946781.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:01.864Z,1628946781.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:02.277Z,1628946782.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,0084E,186,80,80,B5,FF
2021-08-14T13:13:02.278Z,1628946782.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:02.697Z,1628946782.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131303.11*5D

2021-08-14T13:13:02.736Z,1628946782.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.060005 m, bearing: 309.613404 deg, deltaT: 4.510267 s, approachRate: -0.585331 m/s, LOS rate: 0.916663 deg/s, posRepo size: 4
2021-08-14T13:13:02.738Z,1628946782.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.060005 m,
      bearing: 309.613404 deg,
      approachRate: -0.585331 m/s,
      LOS rate: 0.916663 deg/s,
      cmd update: 2.749990 deg/s,
      cmd heading: 297.994385 deg,
      new cmd heading: 299.032638 deg.

2021-08-14T13:13:05.161Z,1628946785.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:05.501Z,1628946785.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:05.501Z,1628946785.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:05.502Z,1628946785.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:05.502Z,1628946785.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:05.897Z,1628946785.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,0084E,186,80,80,B5,FF
2021-08-14T13:13:05.897Z,1628946785.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:05.897Z,1628946785.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:05.899Z,1628946785.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:06.326Z,1628946786.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:06.705Z,1628946786.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00822,186,80,80,A8,FF
2021-08-14T13:13:06.705Z,1628946786.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:07.150Z,1628946787.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131307.55*59

2021-08-14T13:13:07.176Z,1628946787.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.419998 m, bearing: 312.323596 deg, deltaT: 4.386292 s, approachRate: -0.601877 m/s, LOS rate: 0.617878 deg/s, posRepo size: 4
2021-08-14T13:13:07.178Z,1628946787.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.419998 m,
      bearing: 312.323596 deg,
      approachRate: -0.601877 m/s,
      LOS rate: 0.617878 deg/s,
      cmd update: 1.853633 deg/s,
      cmd heading: 310.014480 deg,
      new cmd heading: 311.259290 deg.

2021-08-14T13:13:09.555Z,1628946789.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:09.941Z,1628946789.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:09.941Z,1628946789.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:09.942Z,1628946789.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:09.943Z,1628946789.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:10.341Z,1628946790.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00822,186,80,80,A8,FF
2021-08-14T13:13:10.341Z,1628946790.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:10.341Z,1628946790.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:10.343Z,1628946790.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:10.753Z,1628946790.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:11.149Z,1628946791.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,007F3,185,80,80,8C,FF
2021-08-14T13:13:11.149Z,1628946791.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:11.589Z,1628946791.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131311.99*5E

2021-08-14T13:13:11.624Z,1628946791.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.599998 m, bearing: 307.223056 deg, deltaT: 4.462155 s, approachRate: -0.631982 m/s, LOS rate: -1.143066 deg/s, posRepo size: 4
2021-08-14T13:13:11.626Z,1628946791.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.599998 m,
      bearing: 307.223056 deg,
      approachRate: -0.631982 m/s,
      LOS rate: -1.143066 deg/s,
      cmd update: -3.429199 deg/s,
      cmd heading: 318.315528 deg,
      new cmd heading: 319.097917 deg.

2021-08-14T13:13:13.996Z,1628946793.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:14.389Z,1628946794.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:14.389Z,1628946794.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:14.389Z,1628946794.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:14.390Z,1628946794.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:14.786Z,1628946794.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,007F3,185,80,80,8C,FF
2021-08-14T13:13:14.786Z,1628946794.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:14.786Z,1628946794.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:14.810Z,1628946794.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:15.197Z,1628946795.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:15.589Z,1628946795.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,007C3,186,80,80,AD,FF
2021-08-14T13:13:15.590Z,1628946795.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:16.025Z,1628946796.025 [Micromodem](INFO): Nmea in: $SNTTA,0.057732,,,,131316.46*41

2021-08-14T13:13:16.101Z,1628946796.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.720001 m, bearing: 305.413466 deg, deltaT: 4.456061 s, approachRate: -0.646310 m/s, LOS rate: -0.406096 deg/s, posRepo size: 4
2021-08-14T13:13:16.103Z,1628946796.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.720001 m,
      bearing: 305.413466 deg,
      approachRate: -0.646310 m/s,
      LOS rate: -0.406096 deg/s,
      cmd update: -1.218289 deg/s,
      cmd heading: 303.082551 deg,
      new cmd heading: 301.555748 deg.

2021-08-14T13:13:18.493Z,1628946798.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:18.841Z,1628946798.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:18.841Z,1628946798.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:18.841Z,1628946798.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:18.842Z,1628946798.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:19.237Z,1628946799.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,007C3,186,80,80,AD,FF
2021-08-14T13:13:19.238Z,1628946799.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:19.238Z,1628946799.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:19.239Z,1628946799.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:19.636Z,1628946799.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:20.057Z,1628946800.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00795,186,80,80,A4,FF
2021-08-14T13:13:20.059Z,1628946800.059 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:20.493Z,1628946800.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131320.89*5D

2021-08-14T13:13:20.595Z,1628946800.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.959999 m, bearing: 310.421798 deg, deltaT: 4.579633 s, approachRate: -0.602669 m/s, LOS rate: 1.093610 deg/s, posRepo size: 4
2021-08-14T13:13:20.605Z,1628946800.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.959999 m,
      bearing: 310.421798 deg,
      approachRate: -0.602669 m/s,
      LOS rate: 1.093610 deg/s,
      cmd update: 3.280830 deg/s,
      cmd heading: 297.533413 deg,
      new cmd heading: 297.050504 deg.

2021-08-14T13:13:22.915Z,1628946802.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:23.269Z,1628946803.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:23.269Z,1628946803.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:23.269Z,1628946803.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:23.270Z,1628946803.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:23.681Z,1628946803.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00795,186,80,80,A4,FF
2021-08-14T13:13:23.682Z,1628946803.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:23.682Z,1628946803.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:23.684Z,1628946803.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:24.116Z,1628946804.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:24.493Z,1628946804.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00764,186,80,80,9E,FF
2021-08-14T13:13:24.494Z,1628946804.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:24.942Z,1628946804.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131325.33*59

2021-08-14T13:13:24.964Z,1628946804.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.020004 m, bearing: 314.621545 deg, deltaT: 4.309512 s, approachRate: -0.682211 m/s, LOS rate: 0.974530 deg/s, posRepo size: 4
2021-08-14T13:13:24.966Z,1628946804.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.020004 m,
      bearing: 314.621545 deg,
      approachRate: -0.682211 m/s,
      LOS rate: 0.974530 deg/s,
      cmd update: 2.923589 deg/s,
      cmd heading: 311.812063 deg,
      new cmd heading: 313.166987 deg.

2021-08-14T13:13:27.347Z,1628946807.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:27.713Z,1628946807.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:27.713Z,1628946807.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:27.713Z,1628946807.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:27.714Z,1628946807.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:28.129Z,1628946808.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00764,186,80,80,9E,FF
2021-08-14T13:13:28.129Z,1628946808.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:28.129Z,1628946808.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:28.131Z,1628946808.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:28.525Z,1628946808.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:28.923Z,1628946808.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00736,187,80,80,8E,FF
2021-08-14T13:13:28.923Z,1628946808.923 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:29.365Z,1628946809.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131329.78*5A

2021-08-14T13:13:29.408Z,1628946809.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 310.564194 deg, deltaT: 4.389618 s, approachRate: -0.628757 m/s, LOS rate: -0.924306 deg/s, posRepo size: 4
2021-08-14T13:13:29.410Z,1628946809.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.260002 m,
      bearing: 310.564194 deg,
      approachRate: -0.628757 m/s,
      LOS rate: -0.924306 deg/s,
      cmd update: -2.772918 deg/s,
      cmd heading: 324.645407 deg,
      new cmd heading: 326.012512 deg.

2021-08-14T13:13:31.783Z,1628946811.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:32.159Z,1628946812.159 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:32.176Z,1628946812.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:32.177Z,1628946812.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:32.178Z,1628946812.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:32.561Z,1628946812.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00736,187,80,80,8E,FF
2021-08-14T13:13:32.561Z,1628946812.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:32.561Z,1628946812.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:32.563Z,1628946812.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:32.974Z,1628946812.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:33.369Z,1628946813.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,00707,186,80,80,8B,FF
2021-08-14T13:13:33.369Z,1628946813.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:33.809Z,1628946813.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131334.21*5A

2021-08-14T13:13:33.828Z,1628946813.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 308.961449 deg, deltaT: 4.483572 s, approachRate: -0.628963 m/s, LOS rate: -0.357471 deg/s, posRepo size: 4
2021-08-14T13:13:33.830Z,1628946813.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 308.961449 deg,
      approachRate: -0.628963 m/s,
      LOS rate: -0.357471 deg/s,
      cmd update: -1.072412 deg/s,
      cmd heading: 312.212649 deg,
      new cmd heading: 311.092651 deg.

2021-08-14T13:13:36.281Z,1628946816.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:36.601Z,1628946816.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:36.601Z,1628946816.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:36.601Z,1628946816.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:36.602Z,1628946816.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:37.019Z,1628946817.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,00707,186,80,80,8B,FF
2021-08-14T13:13:37.019Z,1628946817.019 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:37.019Z,1628946817.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:37.021Z,1628946817.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:37.408Z,1628946817.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:37.825Z,1628946817.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,006D5,186,80,80,AD,FF
2021-08-14T13:13:37.825Z,1628946817.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:38.277Z,1628946818.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131338.67*54

2021-08-14T13:13:38.368Z,1628946818.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 309.346835 deg, deltaT: 4.447166 s, approachRate: -0.674587 m/s, LOS rate: 0.086659 deg/s, posRepo size: 4
2021-08-14T13:13:38.370Z,1628946818.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.440002 m,
      bearing: 309.346835 deg,
      approachRate: -0.674587 m/s,
      LOS rate: 0.086659 deg/s,
      cmd update: 0.259977 deg/s,
      cmd heading: 307.447890 deg,
      new cmd heading: 306.923753 deg.

2021-08-14T13:13:40.670Z,1628946820.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:41.048Z,1628946821.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:41.048Z,1628946821.048 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:41.049Z,1628946821.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:41.050Z,1628946821.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:41.457Z,1628946821.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,006D5,186,80,80,AD,FF
2021-08-14T13:13:41.457Z,1628946821.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:41.457Z,1628946821.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:41.459Z,1628946821.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:41.861Z,1628946821.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:42.277Z,1628946822.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,006A0,186,80,80,BD,FF
2021-08-14T13:13:42.277Z,1628946822.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:42.705Z,1628946822.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131343.11*59

2021-08-14T13:13:42.728Z,1628946822.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.260010 m, bearing: 311.199866 deg, deltaT: 4.487015 s, approachRate: -0.708710 m/s, LOS rate: 0.412976 deg/s, posRepo size: 4
2021-08-14T13:13:42.730Z,1628946822.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.260010 m,
      bearing: 311.199866 deg,
      approachRate: -0.708710 m/s,
      LOS rate: 0.412976 deg/s,
      cmd update: 1.238929 deg/s,
      cmd heading: 308.614440 deg,
      new cmd heading: 308.711605 deg.

2021-08-14T13:13:45.150Z,1628946825.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:45.509Z,1628946825.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:45.509Z,1628946825.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:45.509Z,1628946825.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:45.510Z,1628946825.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:45.897Z,1628946825.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,006A0,186,80,80,BD,FF
2021-08-14T13:13:45.898Z,1628946825.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:45.898Z,1628946825.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:45.900Z,1628946825.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:46.309Z,1628946826.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:46.705Z,1628946826.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00671,187,80,80,A9,FF
2021-08-14T13:13:46.705Z,1628946826.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:47.158Z,1628946827.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131347.55*5D

2021-08-14T13:13:47.184Z,1628946827.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.439999 m, bearing: 311.636670 deg, deltaT: 4.365130 s, approachRate: -0.646031 m/s, LOS rate: 0.100067 deg/s, posRepo size: 4
2021-08-14T13:13:47.186Z,1628946827.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.439999 m,
      bearing: 311.636670 deg,
      approachRate: -0.646031 m/s,
      LOS rate: 0.100067 deg/s,
      cmd update: 0.300200 deg/s,
      cmd heading: 314.027405 deg,
      new cmd heading: 314.598313 deg.

2021-08-14T13:13:49.556Z,1628946829.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:49.933Z,1628946829.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:49.933Z,1628946829.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:49.933Z,1628946829.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:49.934Z,1628946829.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:50.345Z,1628946830.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00671,187,80,80,A9,FF
2021-08-14T13:13:50.345Z,1628946830.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:50.346Z,1628946830.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:50.347Z,1628946830.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:50.748Z,1628946830.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:51.157Z,1628946831.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00640,184,80,80,BE,FF
2021-08-14T13:13:51.158Z,1628946831.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:51.577Z,1628946831.577 [Micromodem](INFO): Nmea in: $SNTTA,0.056522,,,,131352.00*41

2021-08-14T13:13:51.599Z,1628946831.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 314.338611 deg, deltaT: 4.485836 s, approachRate: -0.655394 m/s, LOS rate: 0.602327 deg/s, posRepo size: 4
2021-08-14T13:13:51.602Z,1628946831.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.500008 m,
      bearing: 314.338611 deg,
      approachRate: -0.655394 m/s,
      LOS rate: 0.602327 deg/s,
      cmd update: 1.806982 deg/s,
      cmd heading: 315.366782 deg,
      new cmd heading: 315.491314 deg.

2021-08-14T13:13:54.011Z,1628946834.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:54.398Z,1628946834.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:54.398Z,1628946834.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:54.398Z,1628946834.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:54.399Z,1628946834.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:54.782Z,1628946834.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00640,184,80,80,BE,FF
2021-08-14T13:13:54.782Z,1628946834.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:54.782Z,1628946834.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:54.785Z,1628946834.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:55.203Z,1628946835.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:55.589Z,1628946835.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00612,184,80,80,9F,FF
2021-08-14T13:13:55.590Z,1628946835.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:13:56.056Z,1628946836.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131356.43*5A

2021-08-14T13:13:56.118Z,1628946836.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.740002 m, bearing: 315.711588 deg, deltaT: 4.397884 s, approachRate: -0.627576 m/s, LOS rate: 0.312190 deg/s, posRepo size: 4
2021-08-14T13:13:56.124Z,1628946836.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.740002 m,
      bearing: 315.711588 deg,
      approachRate: -0.627576 m/s,
      LOS rate: 0.312190 deg/s,
      cmd update: 0.936571 deg/s,
      cmd heading: 323.357486 deg,
      new cmd heading: 324.280886 deg.

2021-08-14T13:13:58.212Z,1628946838.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:13:58.438Z,1628946838.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:13:58.439Z,1628946838.439 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:13:58.439Z,1628946838.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:13:58.440Z,1628946838.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:13:58.837Z,1628946838.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00612,184,80,80,9F,FF
2021-08-14T13:13:58.837Z,1628946838.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:13:58.837Z,1628946838.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:13:58.839Z,1628946838.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:13:59.234Z,1628946839.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:13:59.629Z,1628946839.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,005E4,185,80,80,B0,FF
2021-08-14T13:13:59.630Z,1628946839.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:00.093Z,1628946840.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131400.49*54

2021-08-14T13:14:00.136Z,1628946840.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.980000 m, bearing: 314.755307 deg, deltaT: 4.039819 s, approachRate: -0.683199 m/s, LOS rate: -0.236714 deg/s, posRepo size: 4
2021-08-14T13:14:00.144Z,1628946840.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.980000 m,
      bearing: 314.755307 deg,
      approachRate: -0.683199 m/s,
      LOS rate: -0.236714 deg/s,
      cmd update: -0.710142 deg/s,
      cmd heading: 327.141028 deg,
      new cmd heading: 327.584362 deg.

2021-08-14T13:14:02.531Z,1628946842.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:02.869Z,1628946842.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:02.869Z,1628946842.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:02.869Z,1628946842.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:02.870Z,1628946842.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:03.278Z,1628946843.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,005E4,185,80,80,B0,FF
2021-08-14T13:14:03.278Z,1628946843.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:03.278Z,1628946843.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:03.281Z,1628946843.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:03.668Z,1628946843.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:04.118Z,1628946844.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,005B2,186,80,80,B7,FF
2021-08-14T13:14:04.119Z,1628946844.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:04.502Z,1628946844.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131404.93*57

2021-08-14T13:14:04.538Z,1628946844.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 313.732582 deg, deltaT: 4.603175 s, approachRate: -0.651723 m/s, LOS rate: -0.222178 deg/s, posRepo size: 4
2021-08-14T13:14:04.539Z,1628946844.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 313.732582 deg,
      approachRate: -0.651723 m/s,
      LOS rate: -0.222178 deg/s,
      cmd update: -0.666535 deg/s,
      cmd heading: 323.874901 deg,
      new cmd heading: 323.667764 deg.

2021-08-14T13:14:06.923Z,1628946846.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:07.309Z,1628946847.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:07.310Z,1628946847.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:07.310Z,1628946847.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:07.311Z,1628946847.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:07.709Z,1628946847.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,005B2,186,80,80,B7,FF
2021-08-14T13:14:07.709Z,1628946847.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:07.709Z,1628946847.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:07.711Z,1628946847.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:08.133Z,1628946848.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:08.525Z,1628946848.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00581,186,80,80,7F,FF
2021-08-14T13:14:08.525Z,1628946848.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:08.968Z,1628946848.968 [Micromodem](INFO): Nmea in: $SNTTA,0.053036,,,,131409.36*48

2021-08-14T13:14:08.999Z,1628946848.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 314.825521 deg, deltaT: 4.334432 s, approachRate: -0.678290 m/s, LOS rate: 0.252153 deg/s, posRepo size: 4
2021-08-14T13:14:09.002Z,1628946849.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.040001 m,
      bearing: 314.825521 deg,
      approachRate: -0.678290 m/s,
      LOS rate: 0.252153 deg/s,
      cmd update: 0.756459 deg/s,
      cmd heading: 320.983194 deg,
      new cmd heading: 320.707809 deg.

2021-08-14T13:14:11.425Z,1628946851.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:11.754Z,1628946851.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:11.754Z,1628946851.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:11.754Z,1628946851.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:11.755Z,1628946851.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:12.153Z,1628946852.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00581,186,80,80,7F,FF
2021-08-14T13:14:12.154Z,1628946852.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:12.154Z,1628946852.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:12.157Z,1628946852.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:12.565Z,1628946852.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:12.957Z,1628946852.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00550,186,80,80,A8,FF
2021-08-14T13:14:12.958Z,1628946852.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:13.405Z,1628946853.405 [Micromodem](INFO): Nmea in: $SNTTA,0.081412,,,,131413.81*42

2021-08-14T13:14:13.432Z,1628946853.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 312.853318 deg, deltaT: 4.391420 s, approachRate: -0.669487 m/s, LOS rate: -0.449104 deg/s, posRepo size: 4
2021-08-14T13:14:13.434Z,1628946853.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 312.853318 deg,
      approachRate: -0.669487 m/s,
      LOS rate: -0.449104 deg/s,
      cmd update: -1.347311 deg/s,
      cmd heading: 324.305030 deg,
      new cmd heading: 324.650080 deg.

2021-08-14T13:14:15.813Z,1628946855.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:16.216Z,1628946856.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:16.216Z,1628946856.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:16.217Z,1628946856.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:16.219Z,1628946856.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:16.609Z,1628946856.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00550,186,80,80,A8,FF
2021-08-14T13:14:16.609Z,1628946856.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:16.609Z,1628946856.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:16.610Z,1628946856.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:17.038Z,1628946857.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:17.411Z,1628946857.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00524,187,80,80,8B,FF
2021-08-14T13:14:17.411Z,1628946857.411 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:17.841Z,1628946857.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131418.26*54

2021-08-14T13:14:17.884Z,1628946857.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 313.525408 deg, deltaT: 4.463333 s, approachRate: -0.591487 m/s, LOS rate: 0.150580 deg/s, posRepo size: 4
2021-08-14T13:14:17.887Z,1628946857.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.459999 m,
      bearing: 313.525408 deg,
      approachRate: -0.591487 m/s,
      LOS rate: 0.150580 deg/s,
      cmd update: 0.451741 deg/s,
      cmd heading: 318.291521 deg,
      new cmd heading: 317.719309 deg.

2021-08-14T13:14:20.343Z,1628946860.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:20.637Z,1628946860.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:20.637Z,1628946860.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:20.637Z,1628946860.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:20.638Z,1628946860.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:21.044Z,1628946861.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00524,187,80,80,8B,FF
2021-08-14T13:14:21.045Z,1628946861.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:21.045Z,1628946861.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:21.051Z,1628946861.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:21.449Z,1628946861.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:21.853Z,1628946861.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,004F0,184,80,80,B3,FF
2021-08-14T13:14:21.853Z,1628946861.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:22.302Z,1628946862.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131422.70*5E

2021-08-14T13:14:22.369Z,1628946862.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 312.815424 deg, deltaT: 4.431878 s, approachRate: -0.703990 m/s, LOS rate: -0.160199 deg/s, posRepo size: 4
2021-08-14T13:14:22.369Z,1628946862.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.34 m.
2021-08-14T13:14:22.370Z,1628946862.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.34 m.
2021-08-14T13:14:22.370Z,1628946862.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T13:14:22.374Z,1628946862.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.340000 m,
      bearing: 312.815424 deg,
      approachRate: -0.703990 m/s,
      LOS rate: -0.160199 deg/s,
      cmd update: -0.480598 deg/s,
      cmd heading: 320.293615 deg,
      new cmd heading: 320.509420 deg.

2021-08-14T13:14:22.697Z,1628946862.697 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:14:22.697Z,1628946862.697 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:14:22.697Z,1628946862.697 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:14:22.698Z,1628946862.698 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:14:22.698Z,1628946862.698 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:14:22.698Z,1628946862.698 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:14:23.113Z,1628946863.113 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:14:23.114Z,1628946863.114 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:14:23.114Z,1628946863.114 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:14:23.114Z,1628946863.114 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:14:24.689Z,1628946864.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:25.109Z,1628946865.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:25.109Z,1628946865.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:25.109Z,1628946865.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:25.110Z,1628946865.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:25.485Z,1628946865.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,004F0,184,80,80,B3,FF
2021-08-14T13:14:25.485Z,1628946865.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:25.485Z,1628946865.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:25.487Z,1628946865.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:25.901Z,1628946865.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:26.293Z,1628946866.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,004BE,184,80,80,85,FF
2021-08-14T13:14:26.293Z,1628946866.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:26.427Z,1628946866.427 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:26.734Z,1628946866.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131427.14*59

2021-08-14T13:14:26.750Z,1628946866.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 311.921571 deg, deltaT: 4.552854 s, approachRate: -0.658927 m/s, LOS rate: -0.196328 deg/s, posRepo size: 4
2021-08-14T13:14:26.752Z,1628946866.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 311.921571 deg,
      approachRate: -0.658927 m/s,
      LOS rate: -0.196328 deg/s,
      cmd update: -0.588984 deg/s,
      cmd heading: 318.107553 deg,
      new cmd heading: 317.948600 deg.

2021-08-14T13:14:29.174Z,1628946869.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:29.525Z,1628946869.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:29.525Z,1628946869.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:29.525Z,1628946869.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:29.526Z,1628946869.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:29.929Z,1628946869.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,004BE,184,80,80,85,FF
2021-08-14T13:14:29.929Z,1628946869.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:29.929Z,1628946869.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:29.931Z,1628946869.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:30.337Z,1628946870.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:30.741Z,1628946870.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,00490,184,80,80,7A,FF
2021-08-14T13:14:30.742Z,1628946870.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:30.762Z,1628946870.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:31.191Z,1628946871.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131431.58*56

2021-08-14T13:14:31.217Z,1628946871.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 306.545584 deg, deltaT: 4.335745 s, approachRate: -0.636568 m/s, LOS rate: -1.239922 deg/s, posRepo size: 4
2021-08-14T13:14:31.219Z,1628946871.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.580002 m,
      bearing: 306.545584 deg,
      approachRate: -0.636568 m/s,
      LOS rate: -1.239922 deg/s,
      cmd update: -3.719767 deg/s,
      cmd heading: 315.551520 deg,
      new cmd heading: 315.282084 deg.

2021-08-14T13:14:33.595Z,1628946873.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:33.982Z,1628946873.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:33.982Z,1628946873.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:33.982Z,1628946873.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:33.983Z,1628946873.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:34.385Z,1628946874.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,00490,184,80,80,7A,FF
2021-08-14T13:14:34.385Z,1628946874.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:34.385Z,1628946874.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:34.387Z,1628946874.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:34.791Z,1628946874.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:35.189Z,1628946875.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00462,186,80,80,93,FF
2021-08-14T13:14:35.189Z,1628946875.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:35.249Z,1628946875.249 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:35.625Z,1628946875.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131436.04*58

2021-08-14T13:14:35.769Z,1628946875.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 303.119533 deg, deltaT: 4.486262 s, approachRate: -0.615212 m/s, LOS rate: -0.763676 deg/s, posRepo size: 4
2021-08-14T13:14:35.773Z,1628946875.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.819998 m,
      bearing: 303.119533 deg,
      approachRate: -0.615212 m/s,
      LOS rate: -0.763676 deg/s,
      cmd update: -2.291028 deg/s,
      cmd heading: 298.895221 deg,
      new cmd heading: 297.082951 deg.

2021-08-14T13:14:38.079Z,1628946878.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:38.417Z,1628946878.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:38.417Z,1628946878.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:38.417Z,1628946878.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:38.418Z,1628946878.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:38.829Z,1628946878.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00462,186,80,80,93,FF
2021-08-14T13:14:38.830Z,1628946878.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:38.830Z,1628946878.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:38.831Z,1628946878.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:39.225Z,1628946879.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:39.630Z,1628946879.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00431,186,80,80,4B,FF
2021-08-14T13:14:39.630Z,1628946879.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:39.650Z,1628946879.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:40.089Z,1628946880.089 [Micromodem](INFO): Nmea in: $SNTTA,0.055964,,,,131440.48*44

2021-08-14T13:14:40.116Z,1628946880.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 302.971400 deg, deltaT: 4.401647 s, approachRate: -0.667931 m/s, LOS rate: -0.033654 deg/s, posRepo size: 4
2021-08-14T13:14:40.118Z,1628946880.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.880001 m,
      bearing: 302.971400 deg,
      approachRate: -0.667931 m/s,
      LOS rate: -0.033654 deg/s,
      cmd update: -0.100962 deg/s,
      cmd heading: 288.791482 deg,
      new cmd heading: 287.718282 deg.

2021-08-14T13:14:42.500Z,1628946882.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:42.857Z,1628946882.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:42.857Z,1628946882.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:42.857Z,1628946882.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:42.858Z,1628946882.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:43.273Z,1628946883.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00431,186,80,80,4B,FF
2021-08-14T13:14:43.273Z,1628946883.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:43.273Z,1628946883.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:43.275Z,1628946883.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:43.668Z,1628946883.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:44.081Z,1628946884.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00401,187,80,80,76,FF
2021-08-14T13:14:44.082Z,1628946884.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:44.133Z,1628946884.133 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:44.501Z,1628946884.501 [Micromodem](INFO): Nmea in: $SNTTA,0.063311,,,,131444.93*4B

2021-08-14T13:14:44.550Z,1628946884.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 308.915249 deg, deltaT: 4.483174 s, approachRate: -0.642402 m/s, LOS rate: 1.325813 deg/s, posRepo size: 4
2021-08-14T13:14:44.552Z,1628946884.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 308.915249 deg,
      approachRate: -0.642402 m/s,
      LOS rate: 1.325813 deg/s,
      cmd update: 3.977438 deg/s,
      cmd heading: 288.338852 deg,
      new cmd heading: 288.296487 deg.

2021-08-14T13:14:46.915Z,1628946886.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:47.301Z,1628946887.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:47.301Z,1628946887.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:47.301Z,1628946887.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:47.302Z,1628946887.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:47.713Z,1628946887.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00401,187,80,80,76,FF
2021-08-14T13:14:47.714Z,1628946887.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:47.714Z,1628946887.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:47.715Z,1628946887.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:48.136Z,1628946888.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:48.521Z,1628946888.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,003D4,186,80,80,92,FF
2021-08-14T13:14:48.522Z,1628946888.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:48.599Z,1628946888.599 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:48.953Z,1628946888.953 [Micromodem](INFO): Nmea in: $SNTTA,0.034774,,,,131449.37*4D

2021-08-14T13:14:48.988Z,1628946888.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 308.713349 deg, deltaT: 4.465549 s, approachRate: -0.604630 m/s, LOS rate: -0.045213 deg/s, posRepo size: 4
2021-08-14T13:14:48.990Z,1628946888.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 308.713349 deg,
      approachRate: -0.604630 m/s,
      LOS rate: -0.045213 deg/s,
      cmd update: -0.135639 deg/s,
      cmd heading: 306.083401 deg,
      new cmd heading: 307.659914 deg.

2021-08-14T13:14:51.411Z,1628946891.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:51.753Z,1628946891.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:51.753Z,1628946891.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:51.754Z,1628946891.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:51.755Z,1628946891.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:52.153Z,1628946892.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,003D4,186,80,80,92,FF
2021-08-14T13:14:52.153Z,1628946892.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:52.153Z,1628946892.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:52.158Z,1628946892.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:52.564Z,1628946892.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:52.962Z,1628946892.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,003A4,185,80,80,7C,FF
2021-08-14T13:14:52.962Z,1628946892.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:52.987Z,1628946892.987 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:53.397Z,1628946893.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131453.81*56

2021-08-14T13:14:53.423Z,1628946893.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 304.314707 deg, deltaT: 4.388004 s, approachRate: -0.656335 m/s, LOS rate: -1.002424 deg/s, posRepo size: 4
2021-08-14T13:14:53.446Z,1628946893.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 304.314707 deg,
      approachRate: -0.656335 m/s,
      LOS rate: -1.002424 deg/s,
      cmd update: -3.007273 deg/s,
      cmd heading: 305.487642 deg,
      new cmd heading: 305.428014 deg.

2021-08-14T13:14:55.832Z,1628946895.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:14:56.212Z,1628946896.212 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:14:56.212Z,1628946896.212 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:14:56.213Z,1628946896.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:14:56.215Z,1628946896.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:14:56.593Z,1628946896.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,003A4,185,80,80,7C,FF
2021-08-14T13:14:56.593Z,1628946896.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:14:56.593Z,1628946896.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:14:56.595Z,1628946896.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:14:57.000Z,1628946897.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:14:57.395Z,1628946897.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00376,183,80,80,9F,FF
2021-08-14T13:14:57.395Z,1628946897.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:14:57.426Z,1628946897.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:14:57.841Z,1628946897.841 [Micromodem](INFO): Nmea in: $SNTTA,0.036534,,,,131458.25*4A

2021-08-14T13:14:57.876Z,1628946897.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 307.609782 deg, deltaT: 4.439034 s, approachRate: -0.621756 m/s, LOS rate: 0.742295 deg/s, posRepo size: 4
2021-08-14T13:14:57.878Z,1628946897.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 307.609782 deg,
      approachRate: -0.621756 m/s,
      LOS rate: 0.742295 deg/s,
      cmd update: 2.226886 deg/s,
      cmd heading: 292.138324 deg,
      new cmd heading: 290.776513 deg.

2021-08-14T13:15:00.347Z,1628946900.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:00.637Z,1628946900.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:00.637Z,1628946900.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:00.638Z,1628946900.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:00.639Z,1628946900.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:01.053Z,1628946901.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00376,183,80,80,9F,FF
2021-08-14T13:15:01.053Z,1628946901.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:01.054Z,1628946901.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:01.060Z,1628946901.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:01.474Z,1628946901.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:01.845Z,1628946901.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,0034D,186,80,80,97,FF
2021-08-14T13:15:01.846Z,1628946901.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:01.866Z,1628946901.866 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:02.305Z,1628946902.305 [Micromodem](INFO): Nmea in: $SNTTA,0.030805,,,,131502.71*4C

2021-08-14T13:15:02.385Z,1628946902.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 314.520676 deg, deltaT: 4.439747 s, approachRate: -0.554087 m/s, LOS rate: 1.556596 deg/s, posRepo size: 4
2021-08-14T13:15:02.387Z,1628946902.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.199997 m,
      bearing: 314.520676 deg,
      approachRate: -0.554087 m/s,
      LOS rate: 1.556596 deg/s,
      cmd update: 4.669789 deg/s,
      cmd heading: 302.025124 deg,
      new cmd heading: 303.178043 deg.

2021-08-14T13:15:04.376Z,1628946904.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:04.673Z,1628946904.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:04.673Z,1628946904.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:04.673Z,1628946904.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:04.674Z,1628946904.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:05.117Z,1628946905.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,0034D,186,80,80,97,FF
2021-08-14T13:15:05.117Z,1628946905.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:05.117Z,1628946905.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:05.118Z,1628946905.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:05.484Z,1628946905.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:05.897Z,1628946905.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00327,186,80,80,9E,FF
2021-08-14T13:15:05.897Z,1628946905.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:05.949Z,1628946905.949 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:06.325Z,1628946906.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131506.77*5E

2021-08-14T13:15:06.437Z,1628946906.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 307.477658 deg, deltaT: 4.083474 s, approachRate: -0.558347 m/s, LOS rate: -1.724761 deg/s, posRepo size: 4
2021-08-14T13:15:06.439Z,1628946906.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 307.477658 deg,
      approachRate: -0.558347 m/s,
      LOS rate: -1.724761 deg/s,
      cmd update: -5.174284 deg/s,
      cmd heading: 321.075436 deg,
      new cmd heading: 323.363764 deg.

2021-08-14T13:15:08.752Z,1628946908.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:09.130Z,1628946909.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:09.130Z,1628946909.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:09.131Z,1628946909.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:09.133Z,1628946909.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:09.534Z,1628946909.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00327,186,80,80,9E,FF
2021-08-14T13:15:09.535Z,1628946909.535 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:09.535Z,1628946909.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:09.537Z,1628946909.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:09.952Z,1628946909.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:10.326Z,1628946910.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,00301,184,80,80,AF,FF
2021-08-14T13:15:10.327Z,1628946910.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:10.432Z,1628946910.432 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:10.786Z,1628946910.786 [Micromodem](INFO): Nmea in: $SNTTA,0.045793,,,,131511.19*42

2021-08-14T13:15:10.819Z,1628946910.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 309.990267 deg, deltaT: 4.482595 s, approachRate: -0.508635 m/s, LOS rate: 0.560525 deg/s, posRepo size: 4
2021-08-14T13:15:10.821Z,1628946910.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 309.990267 deg,
      approachRate: -0.508635 m/s,
      LOS rate: 0.560525 deg/s,
      cmd update: 1.681576 deg/s,
      cmd heading: 297.903119 deg,
      new cmd heading: 295.839051 deg.

2021-08-14T13:15:13.205Z,1628946913.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:13.569Z,1628946913.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:13.569Z,1628946913.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:13.569Z,1628946913.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:13.570Z,1628946913.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:13.977Z,1628946913.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,00301,184,80,80,AF,FF
2021-08-14T13:15:13.977Z,1628946913.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:13.977Z,1628946913.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:13.979Z,1628946913.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:14.384Z,1628946914.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:14.794Z,1628946914.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,002DB,187,80,80,7E,FF
2021-08-14T13:15:14.794Z,1628946914.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:14.837Z,1628946914.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:15.213Z,1628946915.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131515.63*59

2021-08-14T13:15:15.272Z,1628946915.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.359998 m, bearing: 323.524723 deg, deltaT: 4.405431 s, approachRate: -0.517543 m/s, LOS rate: 3.072221 deg/s, posRepo size: 4
2021-08-14T13:15:15.274Z,1628946915.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 323.524723 deg,
      approachRate: -0.517543 m/s,
      LOS rate: 3.072221 deg/s,
      cmd update: 9.216662 deg/s,
      cmd heading: 305.291372 deg,
      new cmd heading: 306.055107 deg.

2021-08-14T13:15:17.619Z,1628946917.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:18.014Z,1628946918.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:18.014Z,1628946918.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:18.015Z,1628946918.015 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:18.015Z,1628946918.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:18.409Z,1628946918.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,002DB,187,80,80,7E,FF
2021-08-14T13:15:18.409Z,1628946918.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:18.409Z,1628946918.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:18.411Z,1628946918.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:18.834Z,1628946918.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:19.232Z,1628946919.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,002C9,186,80,80,7E,FF
2021-08-14T13:15:19.233Z,1628946919.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:19.264Z,1628946919.264 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:19.669Z,1628946919.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131520.06*5C

2021-08-14T13:15:19.692Z,1628946919.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 294.642777 deg, deltaT: 4.427094 s, approachRate: -0.243952 m/s, LOS rate: -6.523906 deg/s, posRepo size: 4
2021-08-14T13:15:19.694Z,1628946919.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 294.642777 deg,
      approachRate: -0.243952 m/s,
      LOS rate: -6.523906 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 346.276063 deg,
      new cmd heading: 350.245753 deg.

2021-08-14T13:15:22.123Z,1628946922.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:22.453Z,1628946922.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:22.453Z,1628946922.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:22.453Z,1628946922.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:22.454Z,1628946922.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:22.866Z,1628946922.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,002C9,186,80,80,7E,FF
2021-08-14T13:15:22.866Z,1628946922.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:22.866Z,1628946922.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:22.869Z,1628946922.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:23.261Z,1628946923.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:23.658Z,1628946923.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,002CD,187,80,80,93,FF
2021-08-14T13:15:23.659Z,1628946923.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:23.725Z,1628946923.725 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:24.109Z,1628946924.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131524.52*59

2021-08-14T13:15:24.152Z,1628946924.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 323.593872 deg, deltaT: 4.460720 s, approachRate: 0.053803 m/s, LOS rate: 6.490229 deg/s, posRepo size: 4
2021-08-14T13:15:24.158Z,1628946924.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 323.593872 deg,
      approachRate: 0.053803 m/s,
      LOS rate: 6.490229 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.793298 deg,
      new cmd heading: 287.583810 deg.

2021-08-14T13:15:26.239Z,1628946926.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:26.509Z,1628946926.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:26.509Z,1628946926.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:26.509Z,1628946926.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:26.510Z,1628946926.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:26.906Z,1628946926.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,002CD,187,80,80,93,FF
2021-08-14T13:15:26.907Z,1628946926.907 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:26.907Z,1628946926.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:26.910Z,1628946926.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:27.300Z,1628946927.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:27.701Z,1628946927.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F03,000,002E9,186,80,80,73,FF
2021-08-14T13:15:27.702Z,1628946927.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:27.734Z,1628946927.734 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:28.145Z,1628946928.145 [Micromodem](INFO): Nmea in: $SNTTA,0.028427,,,,131528.56*44

2021-08-14T13:15:28.236Z,1628946928.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 337.967077 deg, deltaT: 4.009503 s, approachRate: 0.419004 m/s, LOS rate: 3.584785 deg/s, posRepo size: 4
2021-08-14T13:15:28.238Z,1628946928.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 337.967077 deg,
      approachRate: 0.419004 m/s,
      LOS rate: 3.584785 deg/s,
      cmd update: 10.754354 deg/s,
      cmd heading: 340.922683 deg,
      new cmd heading: 347.010187 deg.

2021-08-14T13:15:30.242Z,1628946930.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:30.537Z,1628946930.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:30.538Z,1628946930.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:30.538Z,1628946930.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:30.539Z,1628946930.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:30.933Z,1628946930.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F03,000,002E9,186,80,80,73,FF
2021-08-14T13:15:30.933Z,1628946930.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:30.933Z,1628946930.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:30.935Z,1628946930.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:31.351Z,1628946931.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:31.741Z,1628946931.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,0030B,185,80,80,86,FF
2021-08-14T13:15:31.741Z,1628946931.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:31.803Z,1628946931.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:32.209Z,1628946932.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131532.59*55

2021-08-14T13:15:32.278Z,1628946932.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 304.020353 deg, deltaT: 4.068588 s, approachRate: 0.501403 m/s, LOS rate: -8.343613 deg/s, posRepo size: 4
2021-08-14T13:15:32.280Z,1628946932.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 304.020353 deg,
      approachRate: 0.501403 m/s,
      LOS rate: -8.343613 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 24.536137 deg,
      new cmd heading: 29.844239 deg.

2021-08-14T13:15:34.305Z,1628946934.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:34.569Z,1628946934.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:34.569Z,1628946934.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:34.569Z,1628946934.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:34.570Z,1628946934.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:34.967Z,1628946934.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,0030B,185,80,80,86,FF
2021-08-14T13:15:34.967Z,1628946934.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:34.967Z,1628946934.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:34.969Z,1628946934.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:35.380Z,1628946935.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:35.786Z,1628946935.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,00338,189,80,80,65,FF
2021-08-14T13:15:35.787Z,1628946935.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:35.845Z,1628946935.845 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:36.245Z,1628946936.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131536.62*59

2021-08-14T13:15:36.315Z,1628946936.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 355.211419 deg, deltaT: 4.041881 s, approachRate: 0.668006 m/s, LOS rate: 12.665159 deg/s, posRepo size: 4
2021-08-14T13:15:36.315Z,1628946936.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.665159 deg/s. Setting heading cmd to target bearing of 355.211419deg and heading rate command to 0 deg/s.
2021-08-14T13:15:38.349Z,1628946938.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:38.609Z,1628946938.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:38.609Z,1628946938.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:38.609Z,1628946938.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:38.610Z,1628946938.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:39.013Z,1628946939.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,00338,189,80,80,65,FF
2021-08-14T13:15:39.013Z,1628946939.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:39.013Z,1628946939.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:39.018Z,1628946939.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:39.429Z,1628946939.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:39.829Z,1628946939.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C13,000,00366,18A,80,80,62,FF
2021-08-14T13:15:39.830Z,1628946939.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:39.917Z,1628946939.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:40.269Z,1628946940.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131540.67*5D

2021-08-14T13:15:40.343Z,1628946940.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 28.321002 deg, deltaT: 4.072393 s, approachRate: 0.677734 m/s, LOS rate: 8.130251 deg/s, posRepo size: 4
2021-08-14T13:15:40.344Z,1628946940.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.70 m. Rolling out.
2021-08-14T13:15:40.344Z,1628946940.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T13:15:42.679Z,1628946942.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:43.077Z,1628946943.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:43.078Z,1628946943.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:43.078Z,1628946943.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:43.079Z,1628946943.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:43.472Z,1628946943.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C13,000,00366,18A,80,80,62,FF
2021-08-14T13:15:43.472Z,1628946943.472 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:43.472Z,1628946943.472 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:43.474Z,1628946943.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:43.869Z,1628946943.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:44.265Z,1628946944.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00383,186,80,80,69,FF
2021-08-14T13:15:44.266Z,1628946944.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:44.330Z,1628946944.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:44.692Z,1628946944.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131545.13*5B

2021-08-14T13:15:44.729Z,1628946944.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 14.528460 deg, deltaT: 4.412444 s, approachRate: 0.394339 m/s, LOS rate: -3.125828 deg/s, posRepo size: 4
2021-08-14T13:15:47.147Z,1628946947.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:47.505Z,1628946947.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:47.505Z,1628946947.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:47.505Z,1628946947.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:47.506Z,1628946947.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:47.907Z,1628946947.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00383,186,80,80,69,FF
2021-08-14T13:15:47.907Z,1628946947.907 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:47.907Z,1628946947.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:47.909Z,1628946947.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:48.328Z,1628946948.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:48.725Z,1628946948.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,003A0,186,80,80,69,FF
2021-08-14T13:15:48.725Z,1628946948.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:48.746Z,1628946948.746 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:49.157Z,1628946949.157 [Micromodem](INFO): Nmea in: $SNTTA,0.013930,,,,131549.56*40

2021-08-14T13:15:49.261Z,1628946949.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 5.872011 deg, deltaT: 4.415926 s, approachRate: 0.394028 m/s, LOS rate: -1.960279 deg/s, posRepo size: 4
2021-08-14T13:15:51.616Z,1628946951.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:51.957Z,1628946951.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:51.957Z,1628946951.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:51.958Z,1628946951.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:51.958Z,1628946951.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:52.354Z,1628946952.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,003A0,186,80,80,69,FF
2021-08-14T13:15:52.354Z,1628946952.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:52.354Z,1628946952.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:52.356Z,1628946952.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:52.774Z,1628946952.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:52.790Z,1628946952.790 [PowerOnly](INFO): Powering down loadControl
2021-08-14T13:15:53.598Z,1628946953.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131554.01*58

2021-08-14T13:15:54.053Z,1628946954.053 [DDM](ERROR): Could not parse whisker state
2021-08-14T13:15:54.400Z,1628946954.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:55.993Z,1628946955.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,69,FF
2021-08-14T13:15:55.993Z,1628946955.993 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,69,FF
2021-08-14T13:15:55.993Z,1628946955.993 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:15:57.272Z,1628946957.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:15:57.609Z,1628946957.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:15:57.609Z,1628946957.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:15:57.609Z,1628946957.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:15:57.610Z,1628946957.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:15:58.025Z,1628946958.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,69,FF
2021-08-14T13:15:58.025Z,1628946958.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:15:58.026Z,1628946958.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:15:58.027Z,1628946958.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:15:58.424Z,1628946958.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:15:58.833Z,1628946958.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE8,000,00409,189,80,80,7F,FF
2021-08-14T13:15:58.834Z,1628946958.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:15:58.859Z,1628946958.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:15:59.289Z,1628946959.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131559.68*5A

2021-08-14T13:15:59.332Z,1628946959.332 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T13:15:59.365Z,1628946959.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 47.481354 deg, deltaT: 10.112893 s, approachRate: 0.622967 m/s, LOS rate: 4.114485 deg/s, posRepo size: 4
2021-08-14T13:16:01.667Z,1628946961.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:02.075Z,1628946962.075 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:02.080Z,1628946962.080 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:02.080Z,1628946962.080 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:02.081Z,1628946962.081 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:02.457Z,1628946962.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE8,000,00409,189,80,80,7F,FF
2021-08-14T13:16:02.457Z,1628946962.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:02.457Z,1628946962.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:02.459Z,1628946962.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:02.864Z,1628946962.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:03.303Z,1628946963.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF5,000,00434,189,80,80,66,FF
2021-08-14T13:16:03.305Z,1628946963.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:03.313Z,1628946963.313 [Micromodem](INFO): Nmea in: $SNTTA,0.039595,0.319769,,,131604.11*5F

2021-08-14T13:16:03.397Z,1628946963.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:16:03.712Z,1628946963.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 33.593633 deg, deltaT: 4.538523 s, approachRate: 0.568467 m/s, LOS rate: -3.059965 deg/s, posRepo size: 4
2021-08-14T13:16:06.174Z,1628946966.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:06.537Z,1628946966.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:06.537Z,1628946966.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:06.537Z,1628946966.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:06.538Z,1628946966.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:06.901Z,1628946966.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF5,000,00434,189,80,80,66,FF
2021-08-14T13:16:06.901Z,1628946966.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:06.901Z,1628946966.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:06.903Z,1628946966.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:07.323Z,1628946967.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:07.709Z,1628946967.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,00465,189,80,80,8A,FF
2021-08-14T13:16:07.710Z,1628946967.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:07.782Z,1628946967.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:16:08.157Z,1628946968.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131608.55*53

2021-08-14T13:16:08.183Z,1628946968.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 21.965622 deg, deltaT: 4.385589 s, approachRate: 0.670378 m/s, LOS rate: -2.651414 deg/s, posRepo size: 4
2021-08-14T13:16:10.569Z,1628946970.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:10.941Z,1628946970.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:10.941Z,1628946970.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:10.941Z,1628946970.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:10.942Z,1628946970.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:11.354Z,1628946971.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,00465,189,80,80,8A,FF
2021-08-14T13:16:11.354Z,1628946971.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:11.354Z,1628946971.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:11.356Z,1628946971.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:11.775Z,1628946971.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:12.181Z,1628946972.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,0049A,185,80,80,85,FF
2021-08-14T13:16:12.181Z,1628946972.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:12.212Z,1628946972.212 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:16:12.617Z,1628946972.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131613.01*58

2021-08-14T13:16:12.660Z,1628946972.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 13.290220 deg, deltaT: 4.429452 s, approachRate: 0.717921 m/s, LOS rate: -1.958572 deg/s, posRepo size: 4
2021-08-14T13:16:15.026Z,1628946975.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:15.413Z,1628946975.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:15.413Z,1628946975.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:15.413Z,1628946975.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:15.414Z,1628946975.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:15.817Z,1628946975.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,0049A,185,80,80,85,FF
2021-08-14T13:16:15.817Z,1628946975.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:15.817Z,1628946975.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:15.819Z,1628946975.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:16.229Z,1628946976.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:16.633Z,1628946976.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,004CA,187,80,80,4F,FF
2021-08-14T13:16:16.634Z,1628946976.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:16.691Z,1628946976.691 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:16:17.089Z,1628946977.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131617.47*5E

2021-08-14T13:16:17.126Z,1628946977.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 15.227507 deg, deltaT: 4.478855 s, approachRate: 0.643022 m/s, LOS rate: 0.432541 deg/s, posRepo size: 4
2021-08-14T13:16:19.496Z,1628946979.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:19.857Z,1628946979.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:19.857Z,1628946979.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:19.857Z,1628946979.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:19.858Z,1628946979.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:20.261Z,1628946980.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,004CA,187,80,80,4F,FF
2021-08-14T13:16:20.261Z,1628946980.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:20.261Z,1628946980.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:20.263Z,1628946980.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:20.677Z,1628946980.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:21.508Z,1628946981.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131621.92*53

2021-08-14T13:16:22.314Z,1628946982.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:23.905Z,1628946983.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,4F,FF
2021-08-14T13:16:23.905Z,1628946983.905 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,4F,FF
2021-08-14T13:16:23.905Z,1628946983.905 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:16:25.145Z,1628946985.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:25.509Z,1628946985.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:25.509Z,1628946985.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:25.509Z,1628946985.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:25.510Z,1628946985.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:25.913Z,1628946985.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,4F,FF
2021-08-14T13:16:25.913Z,1628946985.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:25.913Z,1628946985.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:25.915Z,1628946985.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:26.330Z,1628946986.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:26.721Z,1628946986.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00544,185,80,80,5D,FF
2021-08-14T13:16:26.721Z,1628946986.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:26.773Z,1628946986.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:16:27.162Z,1628946987.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131627.57*5C

2021-08-14T13:16:27.254Z,1628946987.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 10.682765 deg, deltaT: 10.081802 s, approachRate: 0.726061 m/s, LOS rate: -0.450787 deg/s, posRepo size: 4
2021-08-14T13:16:27.593Z,1628946987.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:16:27.593Z,1628946987.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:16:27.593Z,1628946987.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:16:27.594Z,1628946987.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:16:27.594Z,1628946987.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:16:27.594Z,1628946987.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:16:27.973Z,1628946987.973 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:16:27.973Z,1628946987.973 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:16:27.974Z,1628946987.974 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:16:27.974Z,1628946987.974 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:16:29.592Z,1628946989.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:29.953Z,1628946989.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:29.953Z,1628946989.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:29.953Z,1628946989.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:29.954Z,1628946989.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:30.354Z,1628946990.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00544,185,80,80,5D,FF
2021-08-14T13:16:30.354Z,1628946990.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:30.354Z,1628946990.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:30.356Z,1628946990.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:30.766Z,1628946990.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:31.173Z,1628946991.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00578,187,80,80,37,FF
2021-08-14T13:16:31.173Z,1628946991.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:31.614Z,1628946991.614 [Micromodem](INFO): Nmea in: $SNTTA,0.328889,,,,131632.01*45

2021-08-14T13:16:31.654Z,1628946991.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.500004 m, bearing: 2.263663 deg, deltaT: 4.507013 s, approachRate: 0.692255 m/s, LOS rate: -1.868000 deg/s, posRepo size: 4
2021-08-14T13:16:34.064Z,1628946994.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:34.401Z,1628946994.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:34.401Z,1628946994.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:34.401Z,1628946994.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:34.402Z,1628946994.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:34.805Z,1628946994.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00578,187,80,80,37,FF
2021-08-14T13:16:34.805Z,1628946994.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:34.805Z,1628946994.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:34.807Z,1628946994.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:35.252Z,1628946995.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:35.613Z,1628946995.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,005A3,186,80,80,75,FF
2021-08-14T13:16:35.614Z,1628946995.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:36.075Z,1628946996.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131636.46*5C

2021-08-14T13:16:36.111Z,1628946996.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 0.856393 deg, deltaT: 4.385934 s, approachRate: 0.588243 m/s, LOS rate: -0.320860 deg/s, posRepo size: 4
2021-08-14T13:16:38.470Z,1628946998.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:38.841Z,1628946998.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:38.841Z,1628946998.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:38.841Z,1628946998.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:38.842Z,1628946998.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:39.289Z,1628946999.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,005A3,186,80,80,75,FF
2021-08-14T13:16:39.289Z,1628946999.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:39.289Z,1628946999.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:39.291Z,1628946999.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:39.678Z,1628946999.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:40.085Z,1628947000.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,005D8,186,80,80,8D,FF
2021-08-14T13:16:40.085Z,1628947000.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:40.487Z,1628947000.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131640.94*52

2021-08-14T13:16:40.520Z,1628947000.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 0.894091 deg, deltaT: 4.449921 s, approachRate: 0.714620 m/s, LOS rate: 0.008472 deg/s, posRepo size: 4
2021-08-14T13:16:42.915Z,1628947002.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:43.305Z,1628947003.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:43.305Z,1628947003.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:43.305Z,1628947003.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:43.306Z,1628947003.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:43.702Z,1628947003.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,005D8,186,80,80,8D,FF
2021-08-14T13:16:43.702Z,1628947003.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:43.702Z,1628947003.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:43.704Z,1628947003.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:44.128Z,1628947004.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:44.505Z,1628947004.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,0060C,186,80,80,7C,FF
2021-08-14T13:16:44.506Z,1628947004.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:44.953Z,1628947004.953 [Micromodem](INFO): Nmea in: $SNTTA,0.036423,,,,131645.35*42

2021-08-14T13:16:44.976Z,1628947004.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.379993 m, bearing: 3.743931 deg, deltaT: 4.441280 s, approachRate: 0.702498 m/s, LOS rate: 0.641671 deg/s, posRepo size: 4
2021-08-14T13:16:47.398Z,1628947007.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:47.737Z,1628947007.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:47.737Z,1628947007.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:47.737Z,1628947007.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:47.738Z,1628947007.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:48.155Z,1628947008.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,0060C,186,80,80,7C,FF
2021-08-14T13:16:48.155Z,1628947008.155 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:48.155Z,1628947008.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:48.157Z,1628947008.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:48.548Z,1628947008.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:48.958Z,1628947008.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,00643,186,80,80,89,FF
2021-08-14T13:16:48.959Z,1628947008.959 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:49.389Z,1628947009.389 [Micromodem](INFO): Nmea in: $SNTTA,0.038604,,,,131649.81*48

2021-08-14T13:16:49.471Z,1628947009.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.680004 m, bearing: 3.169880 deg, deltaT: 4.441639 s, approachRate: 0.742971 m/s, LOS rate: -0.129243 deg/s, posRepo size: 4
2021-08-14T13:16:51.826Z,1628947011.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:52.190Z,1628947012.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:52.190Z,1628947012.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:52.190Z,1628947012.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:52.191Z,1628947012.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:52.589Z,1628947012.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,00643,186,80,80,89,FF
2021-08-14T13:16:52.589Z,1628947012.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:52.589Z,1628947012.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:52.591Z,1628947012.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:53.005Z,1628947013.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:53.402Z,1628947013.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,0067A,187,80,80,2F,FF
2021-08-14T13:16:53.402Z,1628947013.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:53.870Z,1628947013.870 [Micromodem](INFO): Nmea in: $SNTTA,0.059950,,,,131654.24*42

2021-08-14T13:16:53.886Z,1628947013.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 15.956237 deg, deltaT: 4.485191 s, approachRate: 0.735755 m/s, LOS rate: 2.850794 deg/s, posRepo size: 4
2021-08-14T13:16:56.289Z,1628947016.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:16:56.633Z,1628947016.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:16:56.634Z,1628947016.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:16:56.634Z,1628947016.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:16:56.635Z,1628947016.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:16:57.034Z,1628947017.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,0067A,187,80,80,2F,FF
2021-08-14T13:16:57.034Z,1628947017.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:16:57.034Z,1628947017.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:16:57.038Z,1628947017.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:16:57.440Z,1628947017.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:16:57.863Z,1628947017.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,006A6,186,80,80,AD,FF
2021-08-14T13:16:57.863Z,1628947017.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:16:58.285Z,1628947018.285 [Micromodem](INFO): Nmea in: $SNTTA,0.071848,,,,131658.69*45

2021-08-14T13:16:58.312Z,1628947018.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.620003 m, bearing: 359.623175 deg, deltaT: 4.432121 s, approachRate: 0.595651 m/s, LOS rate: -3.685160 deg/s, posRepo size: 4
2021-08-14T13:17:00.695Z,1628947020.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:01.094Z,1628947021.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:01.094Z,1628947021.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:01.094Z,1628947021.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:01.095Z,1628947021.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:01.473Z,1628947021.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,006A6,186,80,80,AD,FF
2021-08-14T13:17:01.473Z,1628947021.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:01.473Z,1628947021.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:01.475Z,1628947021.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:01.889Z,1628947021.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:02.281Z,1628947022.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,006DC,186,80,80,98,FF
2021-08-14T13:17:02.282Z,1628947022.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:02.730Z,1628947022.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131703.13*5B

2021-08-14T13:17:02.793Z,1628947022.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.860001 m, bearing: 1.314691 deg, deltaT: 4.496360 s, approachRate: 0.720582 m/s, LOS rate: 0.376199 deg/s, posRepo size: 4
2021-08-14T13:17:05.242Z,1628947025.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:05.513Z,1628947025.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:05.513Z,1628947025.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:05.513Z,1628947025.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:05.514Z,1628947025.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:05.921Z,1628947025.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,006DC,186,80,80,98,FF
2021-08-14T13:17:05.921Z,1628947025.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:05.921Z,1628947025.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:05.923Z,1628947025.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:06.329Z,1628947026.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:07.150Z,1628947027.150 [Micromodem](INFO): Nmea in: $SNTTA,0.070825,,,,131707.58*46

2021-08-14T13:17:07.955Z,1628947027.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:09.549Z,1628947029.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,98,FF
2021-08-14T13:17:09.549Z,1628947029.549 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,98,FF
2021-08-14T13:17:09.550Z,1628947029.550 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:17:10.823Z,1628947030.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:11.170Z,1628947031.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:11.170Z,1628947031.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:11.170Z,1628947031.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:11.171Z,1628947031.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:11.586Z,1628947031.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,98,FF
2021-08-14T13:17:11.586Z,1628947031.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:11.586Z,1628947031.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:11.588Z,1628947031.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:11.984Z,1628947031.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:12.389Z,1628947032.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,005D2,186,80,80,89,FF
2021-08-14T13:17:12.390Z,1628947032.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:12.829Z,1628947032.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131713.24*5E

2021-08-14T13:17:12.848Z,1628947032.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 3.069570 deg, deltaT: 10.033598 s, approachRate: -1.590656 m/s, LOS rate: 0.174900 deg/s, posRepo size: 4
2021-08-14T13:17:15.309Z,1628947035.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:15.613Z,1628947035.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:15.613Z,1628947035.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:15.613Z,1628947035.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:15.614Z,1628947035.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:16.017Z,1628947036.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,005D2,186,80,80,89,FF
2021-08-14T13:17:16.018Z,1628947036.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:16.018Z,1628947036.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:16.020Z,1628947036.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:16.424Z,1628947036.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:16.833Z,1628947036.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00788,186,80,80,84,FF
2021-08-14T13:17:16.833Z,1628947036.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:17.294Z,1628947037.294 [Micromodem](INFO): Nmea in: $SNTTA,0.051625,,,,131717.67*46

2021-08-14T13:17:17.403Z,1628947037.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.180000 m, bearing: 358.526438 deg, deltaT: 4.411108 s, approachRate: 5.957688 m/s, LOS rate: -1.029930 deg/s, posRepo size: 4
2021-08-14T13:17:19.675Z,1628947039.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:20.072Z,1628947040.072 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:20.072Z,1628947040.072 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:20.073Z,1628947040.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:20.074Z,1628947040.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:20.461Z,1628947040.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00788,186,80,80,84,FF
2021-08-14T13:17:20.461Z,1628947040.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:20.461Z,1628947040.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:20.463Z,1628947040.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:20.884Z,1628947040.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:21.293Z,1628947041.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,007C0,186,80,80,99,FF
2021-08-14T13:17:21.294Z,1628947041.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:21.297Z,1628947041.297 [Micromodem](INFO): Nmea in: $SNTTA,0.276598,0.276592,,,131722.11*50

2021-08-14T13:17:21.714Z,1628947041.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 2.143435 deg, deltaT: 4.561029 s, approachRate: 0.736676 m/s, LOS rate: 0.793019 deg/s, posRepo size: 4
2021-08-14T13:17:24.175Z,1628947044.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:24.501Z,1628947044.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:24.501Z,1628947044.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:24.501Z,1628947044.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:24.502Z,1628947044.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:24.909Z,1628947044.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,007C0,186,80,80,99,FF
2021-08-14T13:17:24.909Z,1628947044.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:24.910Z,1628947044.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:24.911Z,1628947044.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:25.312Z,1628947045.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:25.721Z,1628947045.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,007F0,186,80,80,7E,FF
2021-08-14T13:17:25.721Z,1628947045.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:26.169Z,1628947046.169 [Micromodem](INFO): Nmea in: $SNTTA,0.058834,,,,131726.56*41

2021-08-14T13:17:26.220Z,1628947046.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.420006 m, bearing: 358.243340 deg, deltaT: 4.360681 s, approachRate: 0.660448 m/s, LOS rate: -0.894375 deg/s, posRepo size: 4
2021-08-14T13:17:28.575Z,1628947048.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:28.949Z,1628947048.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:28.949Z,1628947048.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:28.950Z,1628947048.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:28.951Z,1628947048.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:29.349Z,1628947049.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,007F0,186,80,80,7E,FF
2021-08-14T13:17:29.349Z,1628947049.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:29.349Z,1628947049.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:29.351Z,1628947049.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:29.778Z,1628947049.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:30.157Z,1628947050.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00826,187,80,80,91,FF
2021-08-14T13:17:30.157Z,1628947050.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:30.606Z,1628947050.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131731.01*59

2021-08-14T13:17:30.631Z,1628947050.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.659996 m, bearing: 358.266836 deg, deltaT: 4.438116 s, approachRate: 0.730037 m/s, LOS rate: 0.005294 deg/s, posRepo size: 4
2021-08-14T13:17:33.018Z,1628947053.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:33.393Z,1628947053.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:33.393Z,1628947053.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:33.393Z,1628947053.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:33.394Z,1628947053.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:33.810Z,1628947053.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00826,187,80,80,91,FF
2021-08-14T13:17:33.810Z,1628947053.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:33.810Z,1628947053.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:33.812Z,1628947053.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:34.205Z,1628947054.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:34.605Z,1628947054.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,0085A,186,80,80,96,FF
2021-08-14T13:17:34.605Z,1628947054.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:35.049Z,1628947055.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131735.46*5E

2021-08-14T13:17:35.119Z,1628947055.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.779999 m, bearing: 357.562889 deg, deltaT: 4.408244 s, approachRate: 0.707765 m/s, LOS rate: -0.159689 deg/s, posRepo size: 4
2021-08-14T13:17:37.495Z,1628947057.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:37.833Z,1628947057.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:37.833Z,1628947057.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:37.833Z,1628947057.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:37.834Z,1628947057.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:38.237Z,1628947058.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,0085A,186,80,80,96,FF
2021-08-14T13:17:38.237Z,1628947058.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:38.238Z,1628947058.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:38.239Z,1628947058.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:38.644Z,1628947058.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:39.064Z,1628947059.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00892,186,80,80,90,FF
2021-08-14T13:17:39.066Z,1628947059.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:39.481Z,1628947059.481 [Micromodem](INFO): Nmea in: $SNTTA,,0.386349,,,131739.89*4C

2021-08-14T13:17:39.537Z,1628947059.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.140007 m, bearing: 1.782247 deg, deltaT: 4.498552 s, approachRate: 0.746909 m/s, LOS rate: 0.937936 deg/s, posRepo size: 4
2021-08-14T13:17:41.891Z,1628947061.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:42.277Z,1628947062.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:42.277Z,1628947062.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:42.277Z,1628947062.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:42.278Z,1628947062.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:42.689Z,1628947062.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00892,186,80,80,90,FF
2021-08-14T13:17:42.689Z,1628947062.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:42.689Z,1628947062.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:42.691Z,1628947062.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:43.124Z,1628947063.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:43.489Z,1628947063.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,008C5,186,80,80,32,FF
2021-08-14T13:17:43.490Z,1628947063.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:43.493Z,1628947063.493 [Micromodem](INFO): Nmea in: $SNTTA,0.066704,0.200386,,,131744.34*51

2021-08-14T13:17:43.932Z,1628947063.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.200005 m, bearing: 11.594403 deg, deltaT: 4.436130 s, approachRate: 0.689790 m/s, LOS rate: 2.211873 deg/s, posRepo size: 4
2021-08-14T13:17:46.349Z,1628947066.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:46.721Z,1628947066.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:46.721Z,1628947066.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:46.721Z,1628947066.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:46.722Z,1628947066.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:47.125Z,1628947067.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,008C5,186,80,80,32,FF
2021-08-14T13:17:47.125Z,1628947067.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:47.125Z,1628947067.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:47.127Z,1628947067.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:47.533Z,1628947067.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:47.945Z,1628947067.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,00A3A,187,80,80,4F,FF
2021-08-14T13:17:47.945Z,1628947067.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:48.373Z,1628947068.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131748.78*59

2021-08-14T13:17:48.411Z,1628947068.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.579994 m, bearing: 357.935271 deg, deltaT: 4.433437 s, approachRate: 5.048000 m/s, LOS rate: -3.080937 deg/s, posRepo size: 4
2021-08-14T13:17:50.803Z,1628947070.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:51.168Z,1628947071.168 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:51.168Z,1628947071.168 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:51.168Z,1628947071.168 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:51.169Z,1628947071.169 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:51.572Z,1628947071.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,00A3A,187,80,80,4F,FF
2021-08-14T13:17:51.572Z,1628947071.572 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:51.573Z,1628947071.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:51.574Z,1628947071.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:51.989Z,1628947071.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:52.382Z,1628947072.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00932,185,80,80,31,FF
2021-08-14T13:17:52.382Z,1628947072.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:52.821Z,1628947072.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131753.23*5D

2021-08-14T13:17:52.843Z,1628947072.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 350.831191 deg, deltaT: 4.418729 s, approachRate: -3.584740 m/s, LOS rate: -1.607720 deg/s, posRepo size: 4
2021-08-14T13:17:55.277Z,1628947075.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:55.621Z,1628947075.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:55.621Z,1628947075.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:55.621Z,1628947075.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:55.622Z,1628947075.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:17:56.022Z,1628947076.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00932,185,80,80,31,FF
2021-08-14T13:17:56.022Z,1628947076.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:17:56.022Z,1628947076.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:17:56.024Z,1628947076.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:17:56.420Z,1628947076.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:17:56.829Z,1628947076.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00964,186,80,80,8C,FF
2021-08-14T13:17:56.830Z,1628947076.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:17:57.297Z,1628947077.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131757.68*56

2021-08-14T13:17:57.379Z,1628947077.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.740005 m, bearing: 0.774845 deg, deltaT: 4.437440 s, approachRate: 0.676067 m/s, LOS rate: 2.240853 deg/s, posRepo size: 4
2021-08-14T13:17:59.362Z,1628947079.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:17:59.645Z,1628947079.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:17:59.645Z,1628947079.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:17:59.646Z,1628947079.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:17:59.647Z,1628947079.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:00.077Z,1628947080.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00964,186,80,80,8C,FF
2021-08-14T13:18:00.077Z,1628947080.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:00.077Z,1628947080.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:00.079Z,1628947080.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:00.460Z,1628947080.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:00.869Z,1628947080.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,00992,184,80,80,90,FF
2021-08-14T13:18:00.870Z,1628947080.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:01.318Z,1628947081.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131801.73*50

2021-08-14T13:18:01.393Z,1628947081.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.500000 m, bearing: 356.739851 deg, deltaT: 4.040246 s, approachRate: 0.683125 m/s, LOS rate: -0.998700 deg/s, posRepo size: 4
2021-08-14T13:18:03.736Z,1628947083.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:04.129Z,1628947084.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:04.129Z,1628947084.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:04.129Z,1628947084.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:04.130Z,1628947084.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:04.523Z,1628947084.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,00992,184,80,80,90,FF
2021-08-14T13:18:04.524Z,1628947084.524 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:04.524Z,1628947084.524 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:04.526Z,1628947084.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:04.933Z,1628947084.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:05.335Z,1628947085.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,009C7,187,80,80,8F,FF
2021-08-14T13:18:05.335Z,1628947085.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:05.774Z,1628947085.774 [Micromodem](INFO): Nmea in: $SNTTA,0.106424,,,,131806.18*41

2021-08-14T13:18:05.813Z,1628947085.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.680000 m, bearing: 357.977045 deg, deltaT: 4.520314 s, approachRate: 0.703491 m/s, LOS rate: 0.273696 deg/s, posRepo size: 4
2021-08-14T13:18:08.199Z,1628947088.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:08.569Z,1628947088.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:08.569Z,1628947088.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:08.569Z,1628947088.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:08.570Z,1628947088.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:08.962Z,1628947088.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,009C7,187,80,80,8F,FF
2021-08-14T13:18:08.962Z,1628947088.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:08.962Z,1628947088.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:08.964Z,1628947088.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:09.403Z,1628947089.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:09.798Z,1628947089.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,009FC,186,80,80,9E,FF
2021-08-14T13:18:09.798Z,1628947089.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:10.221Z,1628947090.221 [Micromodem](INFO): Nmea in: $SNTTA,0.079494,,,,131810.62*49

2021-08-14T13:18:10.263Z,1628947090.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.860008 m, bearing: 356.845255 deg, deltaT: 4.444781 s, approachRate: 0.715448 m/s, LOS rate: -0.254633 deg/s, posRepo size: 4
2021-08-14T13:18:12.647Z,1628947092.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:13.029Z,1628947093.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:13.029Z,1628947093.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:13.029Z,1628947093.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:13.030Z,1628947093.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:13.433Z,1628947093.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,009FC,186,80,80,9E,FF
2021-08-14T13:18:13.433Z,1628947093.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:13.433Z,1628947093.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:13.435Z,1628947093.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:13.845Z,1628947093.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:14.245Z,1628947094.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,00A2E,184,80,80,88,FF
2021-08-14T13:18:14.245Z,1628947094.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:14.685Z,1628947094.685 [Micromodem](INFO): Nmea in: $SNTTA,0.095745,,,,131815.09*4C

2021-08-14T13:18:14.707Z,1628947094.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.860001 m, bearing: 355.379578 deg, deltaT: 4.444666 s, approachRate: 0.674965 m/s, LOS rate: -0.329761 deg/s, posRepo size: 4
2021-08-14T13:18:17.137Z,1628947097.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:17.481Z,1628947097.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:17.481Z,1628947097.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:17.481Z,1628947097.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:17.482Z,1628947097.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:17.873Z,1628947097.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,00A2E,184,80,80,88,FF
2021-08-14T13:18:17.873Z,1628947097.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:17.873Z,1628947097.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:17.875Z,1628947097.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:18.297Z,1628947098.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:18.685Z,1628947098.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00A60,185,80,80,A3,FF
2021-08-14T13:18:18.686Z,1628947098.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:19.149Z,1628947099.149 [Micromodem](INFO): Nmea in: $SNTTA,0.080750,,,,131819.53*4F

2021-08-14T13:18:19.249Z,1628947099.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.860001 m, bearing: 356.370994 deg, deltaT: 4.482391 s, approachRate: 0.669286 m/s, LOS rate: 0.221180 deg/s, posRepo size: 4
2021-08-14T13:18:21.593Z,1628947101.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:21.917Z,1628947101.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:21.917Z,1628947101.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:21.917Z,1628947101.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:21.918Z,1628947101.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:22.337Z,1628947102.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00A60,185,80,80,A3,FF
2021-08-14T13:18:22.337Z,1628947102.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:22.337Z,1628947102.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:22.339Z,1628947102.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:22.821Z,1628947102.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:23.213Z,1628947103.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00A96,184,80,80,7D,FF
2021-08-14T13:18:23.214Z,1628947103.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:23.617Z,1628947103.617 [Micromodem](INFO): Nmea in: $SNTTA,0.377842,0.377861,,,131823.99*55

2021-08-14T13:18:23.633Z,1628947103.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.100006 m, bearing: 356.193300 deg, deltaT: 4.583552 s, approachRate: 0.706877 m/s, LOS rate: -0.038768 deg/s, posRepo size: 4
2021-08-14T13:18:26.105Z,1628947106.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:26.437Z,1628947106.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:26.437Z,1628947106.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:26.437Z,1628947106.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:26.438Z,1628947106.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:26.841Z,1628947106.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00A96,184,80,80,7D,FF
2021-08-14T13:18:26.841Z,1628947106.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:26.841Z,1628947106.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:26.843Z,1628947106.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:27.288Z,1628947107.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:27.653Z,1628947107.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00ACB,185,80,80,84,FF
2021-08-14T13:18:27.653Z,1628947107.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:28.109Z,1628947108.109 [Micromodem](INFO): Nmea in: $SNTTA,0.085028,,,,131828.50*43

2021-08-14T13:18:28.157Z,1628947108.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.279999 m, bearing: 354.213091 deg, deltaT: 4.339614 s, approachRate: 0.732782 m/s, LOS rate: -0.456310 deg/s, posRepo size: 4
2021-08-14T13:18:30.518Z,1628947110.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:30.877Z,1628947110.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:30.877Z,1628947110.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:30.877Z,1628947110.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:30.878Z,1628947110.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:31.297Z,1628947111.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00ACB,185,80,80,84,FF
2021-08-14T13:18:31.297Z,1628947111.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:31.297Z,1628947111.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:31.299Z,1628947111.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:31.702Z,1628947111.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:32.125Z,1628947112.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00AFE,183,80,80,87,FF
2021-08-14T13:18:32.125Z,1628947112.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:32.517Z,1628947112.517 [Micromodem](INFO): Nmea in: $SNTTA,0.087046,,,,131832.95*4B

2021-08-14T13:18:32.552Z,1628947112.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.339996 m, bearing: 352.876177 deg, deltaT: 4.453712 s, approachRate: 0.687067 m/s, LOS rate: -0.300180 deg/s, posRepo size: 4
2021-08-14T13:18:34.954Z,1628947114.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:35.341Z,1628947115.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:35.341Z,1628947115.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:35.341Z,1628947115.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:35.342Z,1628947115.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:35.725Z,1628947115.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00AFE,183,80,80,87,FF
2021-08-14T13:18:35.725Z,1628947115.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:35.726Z,1628947115.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:35.727Z,1628947115.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:36.152Z,1628947116.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:36.545Z,1628947116.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00B33,184,80,80,92,FF
2021-08-14T13:18:36.545Z,1628947116.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:36.987Z,1628947116.987 [Micromodem](INFO): Nmea in: $SNTTA,0.089191,,,,131837.38*4C

2021-08-14T13:18:37.008Z,1628947117.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.520004 m, bearing: 354.877942 deg, deltaT: 4.456331 s, approachRate: 0.713593 m/s, LOS rate: 0.449196 deg/s, posRepo size: 4
2021-08-14T13:18:39.462Z,1628947119.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:39.770Z,1628947119.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:39.770Z,1628947119.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:39.770Z,1628947119.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:39.771Z,1628947119.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:40.183Z,1628947120.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00B33,184,80,80,92,FF
2021-08-14T13:18:40.183Z,1628947120.183 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:40.184Z,1628947120.184 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:40.187Z,1628947120.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:40.585Z,1628947120.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:40.990Z,1628947120.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00B6A,185,80,80,9D,FF
2021-08-14T13:18:40.991Z,1628947120.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:41.402Z,1628947121.402 [Micromodem](INFO): Nmea in: $SNTTA,0.093713,0.412445,,,131841.84*51

2021-08-14T13:18:41.468Z,1628947121.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.820007 m, bearing: 354.696341 deg, deltaT: 4.455176 s, approachRate: 0.740712 m/s, LOS rate: -0.040762 deg/s, posRepo size: 4
2021-08-14T13:18:43.827Z,1628947123.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:44.231Z,1628947124.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:44.232Z,1628947124.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:44.232Z,1628947124.232 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:44.233Z,1628947124.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:44.613Z,1628947124.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00B6A,185,80,80,9D,FF
2021-08-14T13:18:44.613Z,1628947124.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:44.613Z,1628947124.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:44.615Z,1628947124.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:45.025Z,1628947125.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:45.426Z,1628947125.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00BA2,183,80,80,7C,FF
2021-08-14T13:18:45.426Z,1628947125.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:45.862Z,1628947125.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131846.27*52

2021-08-14T13:18:45.910Z,1628947125.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.180008 m, bearing: 351.177236 deg, deltaT: 4.435129 s, approachRate: 0.757588 m/s, LOS rate: -0.793462 deg/s, posRepo size: 4
2021-08-14T13:18:48.319Z,1628947128.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:48.661Z,1628947128.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:48.661Z,1628947128.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:48.662Z,1628947128.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:48.662Z,1628947128.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:49.084Z,1628947129.084 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00BA2,183,80,80,7C,FF
2021-08-14T13:18:49.084Z,1628947129.084 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:49.085Z,1628947129.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:49.092Z,1628947129.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:49.465Z,1628947129.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:49.875Z,1628947129.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00BD5,183,80,80,7C,FF
2021-08-14T13:18:49.877Z,1628947129.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:50.297Z,1628947130.297 [Micromodem](INFO): Nmea in: $SNTTA,0.389250,,,,131850.75*49

2021-08-14T13:18:50.323Z,1628947130.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 352.462596 deg, deltaT: 4.428610 s, approachRate: 0.690961 m/s, LOS rate: 0.290240 deg/s, posRepo size: 4
2021-08-14T13:18:52.719Z,1628947132.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:53.125Z,1628947133.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:53.125Z,1628947133.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:53.125Z,1628947133.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:53.126Z,1628947133.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:53.501Z,1628947133.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00BD5,183,80,80,7C,FF
2021-08-14T13:18:53.501Z,1628947133.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:53.501Z,1628947133.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:53.503Z,1628947133.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:53.909Z,1628947133.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:54.325Z,1628947134.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00C09,183,80,80,64,FF
2021-08-14T13:18:54.325Z,1628947134.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:54.747Z,1628947134.747 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131855.16*52

2021-08-14T13:18:54.803Z,1628947134.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.360001 m, bearing: 352.577589 deg, deltaT: 4.444328 s, approachRate: 0.702017 m/s, LOS rate: 0.025874 deg/s, posRepo size: 4
2021-08-14T13:18:57.219Z,1628947137.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:18:57.541Z,1628947137.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:18:57.541Z,1628947137.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:18:57.541Z,1628947137.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:18:57.542Z,1628947137.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:18:57.953Z,1628947137.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00C09,183,80,80,64,FF
2021-08-14T13:18:57.953Z,1628947137.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:18:57.954Z,1628947137.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:18:57.955Z,1628947137.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:18:58.365Z,1628947138.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:18:58.766Z,1628947138.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00C42,182,80,80,62,FF
2021-08-14T13:18:58.767Z,1628947138.767 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:18:59.213Z,1628947139.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131859.61*5E

2021-08-14T13:18:59.303Z,1628947139.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.780014 m, bearing: 352.743836 deg, deltaT: 4.419541 s, approachRate: 0.773839 m/s, LOS rate: 0.037616 deg/s, posRepo size: 4
2021-08-14T13:19:01.318Z,1628947141.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:01.587Z,1628947141.587 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:01.587Z,1628947141.587 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:01.587Z,1628947141.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:01.588Z,1628947141.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:01.981Z,1628947141.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00C42,182,80,80,62,FF
2021-08-14T13:19:01.981Z,1628947141.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:01.982Z,1628947141.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:01.983Z,1628947141.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:02.407Z,1628947142.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:03.253Z,1628947143.253 [Micromodem](INFO): Nmea in: $SNTTA,0.111051,,,,131903.64*4E

2021-08-14T13:19:04.082Z,1628947144.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:05.633Z,1628947145.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,182,80,80,62,FF
2021-08-14T13:19:05.633Z,1628947145.633 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,182,80,80,62,FF
2021-08-14T13:19:05.633Z,1628947145.633 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:19:06.865Z,1628947146.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:07.285Z,1628947147.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:07.285Z,1628947147.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:07.285Z,1628947147.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:07.286Z,1628947147.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:07.646Z,1628947147.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,182,80,80,62,FF
2021-08-14T13:19:07.646Z,1628947147.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:07.646Z,1628947147.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:07.648Z,1628947147.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:08.067Z,1628947148.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:08.863Z,1628947148.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00CB5,183,80,80,6D,FF
2021-08-14T13:19:08.863Z,1628947148.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:09.305Z,1628947149.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131909.36*58

2021-08-14T13:19:09.428Z,1628947149.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.679993 m, bearing: 352.890248 deg, deltaT: 10.129258 s, approachRate: 0.681193 m/s, LOS rate: 0.014454 deg/s, posRepo size: 4
2021-08-14T13:19:11.718Z,1628947151.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:12.113Z,1628947152.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:12.113Z,1628947152.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:12.113Z,1628947152.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:12.114Z,1628947152.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:12.489Z,1628947152.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00CB5,183,80,80,6D,FF
2021-08-14T13:19:12.489Z,1628947152.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:12.490Z,1628947152.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:12.491Z,1628947152.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:12.901Z,1628947152.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:13.311Z,1628947153.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00CED,183,80,80,4D,FF
2021-08-14T13:19:13.311Z,1628947153.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:13.316Z,1628947153.316 [Micromodem](INFO): Nmea in: $SNTTA,0.260437,0.259612,,,131914.15*5A

2021-08-14T13:19:13.744Z,1628947153.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.039993 m, bearing: 351.470552 deg, deltaT: 4.470809 s, approachRate: 0.751542 m/s, LOS rate: -0.317548 deg/s, posRepo size: 4
2021-08-14T13:19:16.158Z,1628947156.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:16.529Z,1628947156.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:16.529Z,1628947156.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:16.529Z,1628947156.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:16.530Z,1628947156.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:16.933Z,1628947156.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00CED,183,80,80,4D,FF
2021-08-14T13:19:16.933Z,1628947156.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:16.933Z,1628947156.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:16.935Z,1628947156.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:17.374Z,1628947157.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:17.742Z,1628947157.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00D23,183,80,80,4D,FF
2021-08-14T13:19:17.742Z,1628947157.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:18.185Z,1628947158.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.279999 m, bearing: 350.413375 deg, deltaT: 4.372361 s, approachRate: 0.741020 m/s, LOS rate: -0.241786 deg/s, posRepo size: 4
2021-08-14T13:19:20.587Z,1628947160.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:20.981Z,1628947160.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:20.981Z,1628947160.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:20.981Z,1628947160.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:20.982Z,1628947160.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:21.385Z,1628947161.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00D23,183,80,80,4D,FF
2021-08-14T13:19:21.385Z,1628947161.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:21.385Z,1628947161.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:21.387Z,1628947161.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:21.830Z,1628947161.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:22.634Z,1628947162.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131923.04*51

2021-08-14T13:19:23.096Z,1628947163.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:25.064Z,1628947165.064 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,183,80,80,4D,FF
2021-08-14T13:19:25.065Z,1628947165.065 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,183,80,80,4D,FF
2021-08-14T13:19:25.066Z,1628947165.066 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:19:25.878Z,1628947165.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:26.273Z,1628947166.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:26.273Z,1628947166.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:26.273Z,1628947166.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:26.274Z,1628947166.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:26.697Z,1628947166.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,183,80,80,4D,FF
2021-08-14T13:19:26.697Z,1628947166.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:26.697Z,1628947166.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:26.699Z,1628947166.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:27.093Z,1628947167.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:27.880Z,1628947167.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00D9C,184,80,80,73,FF
2021-08-14T13:19:27.881Z,1628947167.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:27.921Z,1628947167.921 [Micromodem](INFO): Nmea in: $SNTTA,0.116593,,,,131928.35*4F

2021-08-14T13:19:28.323Z,1628947168.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.539993 m, bearing: 354.999902 deg, deltaT: 10.190169 s, approachRate: 0.712451 m/s, LOS rate: 0.450093 deg/s, posRepo size: 4
2021-08-14T13:19:30.731Z,1628947170.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:31.129Z,1628947171.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:31.129Z,1628947171.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:31.129Z,1628947171.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:31.130Z,1628947171.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:31.521Z,1628947171.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00D9C,184,80,80,73,FF
2021-08-14T13:19:31.521Z,1628947171.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:31.522Z,1628947171.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:31.523Z,1628947171.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:31.925Z,1628947171.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:32.322Z,1628947172.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00D9C,184,80,80,73,FF
2021-08-14T13:19:32.322Z,1628947172.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:32.766Z,1628947172.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131933.18*5D

2021-08-14T13:19:32.794Z,1628947172.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.539993 m, bearing: 354.768768 deg, deltaT: 4.445310 s, approachRate: 0.000000 m/s, LOS rate: -0.051995 deg/s, posRepo size: 4
2021-08-14T13:19:35.248Z,1628947175.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:35.565Z,1628947175.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:35.565Z,1628947175.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:35.565Z,1628947175.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:35.566Z,1628947175.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:35.961Z,1628947175.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00D9C,184,80,80,73,FF
2021-08-14T13:19:35.961Z,1628947175.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:35.961Z,1628947175.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:35.963Z,1628947175.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:36.361Z,1628947176.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:37.210Z,1628947177.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131937.62*54

2021-08-14T13:19:37.999Z,1628947177.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:39.593Z,1628947179.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,73,FF
2021-08-14T13:19:39.593Z,1628947179.593 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,73,FF
2021-08-14T13:19:39.594Z,1628947179.594 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:19:40.841Z,1628947180.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:41.247Z,1628947181.247 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:41.247Z,1628947181.247 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:41.247Z,1628947181.247 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:41.248Z,1628947181.248 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:41.613Z,1628947181.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,73,FF
2021-08-14T13:19:41.613Z,1628947181.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:41.613Z,1628947181.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:41.615Z,1628947181.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:42.027Z,1628947182.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:42.853Z,1628947182.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00E4C,185,80,80,8E,FF
2021-08-14T13:19:42.854Z,1628947182.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:42.857Z,1628947182.857 [Micromodem](INFO): Nmea in: $SNTTA,0.123732,,,,131943.28*41

2021-08-14T13:19:43.344Z,1628947183.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 354.832180 deg, deltaT: 10.468717 s, approachRate: 1.008721 m/s, LOS rate: 0.006057 deg/s, posRepo size: 4
2021-08-14T13:19:45.682Z,1628947185.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:46.080Z,1628947186.080 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:46.080Z,1628947186.080 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:46.080Z,1628947186.080 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:46.081Z,1628947186.081 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:46.461Z,1628947186.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00E4C,185,80,80,8E,FF
2021-08-14T13:19:46.461Z,1628947186.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:46.461Z,1628947186.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:46.463Z,1628947186.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:46.868Z,1628947186.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:47.291Z,1628947187.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00E4C,185,80,80,8E,FF
2021-08-14T13:19:47.293Z,1628947187.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:47.319Z,1628947187.319 [Micromodem](INFO): Nmea in: $SNTTA,0.314504,0.313485,,,131948.12*54

2021-08-14T13:19:47.704Z,1628947187.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 353.755906 deg, deltaT: 4.549880 s, approachRate: 0.000000 m/s, LOS rate: -0.236550 deg/s, posRepo size: 4
2021-08-14T13:19:49.313Z,1628947189.313 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T13:19:50.149Z,1628947190.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:50.509Z,1628947190.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:50.509Z,1628947190.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:50.509Z,1628947190.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:50.510Z,1628947190.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:50.905Z,1628947190.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00E4C,185,80,80,8E,FF
2021-08-14T13:19:50.905Z,1628947190.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:50.905Z,1628947190.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:50.907Z,1628947190.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:51.323Z,1628947191.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:52.141Z,1628947192.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00EBC,184,80,80,72,FF
2021-08-14T13:19:52.141Z,1628947192.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:52.168Z,1628947192.168 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131952.56*50

2021-08-14T13:19:52.576Z,1628947192.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.819977 m, bearing: 353.777189 deg, deltaT: 4.803548 s, approachRate: 1.398960 m/s, LOS rate: 0.004431 deg/s, posRepo size: 4
2021-08-14T13:19:54.976Z,1628947194.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:55.354Z,1628947195.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:55.354Z,1628947195.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:55.354Z,1628947195.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:55.355Z,1628947195.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:19:55.753Z,1628947195.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00EBC,184,80,80,72,FF
2021-08-14T13:19:55.753Z,1628947195.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:19:55.753Z,1628947195.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:19:55.755Z,1628947195.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:19:56.169Z,1628947196.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:19:56.580Z,1628947196.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00EBC,184,80,80,72,FF
2021-08-14T13:19:56.581Z,1628947196.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:19:56.998Z,1628947196.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131957.41*53

2021-08-14T13:19:57.024Z,1628947197.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.819977 m, bearing: 355.602844 deg, deltaT: 4.383192 s, approachRate: 0.000000 m/s, LOS rate: 0.416513 deg/s, posRepo size: 4
2021-08-14T13:19:59.469Z,1628947199.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:19:59.801Z,1628947199.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:19:59.801Z,1628947199.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:19:59.801Z,1628947199.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:19:59.802Z,1628947199.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:00.205Z,1628947200.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00EBC,184,80,80,72,FF
2021-08-14T13:20:00.205Z,1628947200.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:00.205Z,1628947200.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:00.207Z,1628947200.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:00.616Z,1628947200.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:01.435Z,1628947201.435 [Micromodem](INFO): Nmea in: $SNTTA,0.440659,,,,132001.86*45

2021-08-14T13:20:02.257Z,1628947202.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:03.852Z,1628947203.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:03.853Z,1628947203.853 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:03.853Z,1628947203.853 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:20:05.113Z,1628947205.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:05.473Z,1628947205.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:05.473Z,1628947205.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:05.473Z,1628947205.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:05.474Z,1628947205.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:05.853Z,1628947205.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:05.853Z,1628947205.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:05.853Z,1628947205.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:05.855Z,1628947205.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:06.272Z,1628947206.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:07.102Z,1628947207.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132007.51*5D

2021-08-14T13:20:07.941Z,1628947207.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:09.505Z,1628947209.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:09.505Z,1628947209.505 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:09.506Z,1628947209.506 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:20:10.719Z,1628947210.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:11.126Z,1628947211.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:11.126Z,1628947211.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:11.126Z,1628947211.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:11.127Z,1628947211.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:11.509Z,1628947211.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:11.509Z,1628947211.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:11.509Z,1628947211.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:11.511Z,1628947211.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:11.922Z,1628947211.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:12.754Z,1628947212.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132013.17*5A

2021-08-14T13:20:13.601Z,1628947213.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:15.164Z,1628947215.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:15.165Z,1628947215.165 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:15.165Z,1628947215.165 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:20:16.386Z,1628947216.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:16.778Z,1628947216.778 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:16.778Z,1628947216.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:16.779Z,1628947216.779 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:16.784Z,1628947216.784 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:17.169Z,1628947217.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:17.169Z,1628947217.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:17.169Z,1628947217.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:17.171Z,1628947217.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:17.578Z,1628947217.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:18.419Z,1628947218.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132018.83*5C

2021-08-14T13:20:19.263Z,1628947219.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:20.814Z,1628947220.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:20.814Z,1628947220.814 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:20.814Z,1628947220.814 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:20:22.076Z,1628947222.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:22.418Z,1628947222.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:22.418Z,1628947222.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:22.419Z,1628947222.419 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:22.419Z,1628947222.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:22.837Z,1628947222.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:22.837Z,1628947222.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:22.838Z,1628947222.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:22.839Z,1628947222.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:23.279Z,1628947223.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:24.891Z,1628947224.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:26.457Z,1628947226.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:26.457Z,1628947226.457 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:26.458Z,1628947226.458 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:20:27.706Z,1628947227.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:28.105Z,1628947228.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:28.105Z,1628947228.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:28.105Z,1628947228.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:28.106Z,1628947228.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:28.470Z,1628947228.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,72,FF
2021-08-14T13:20:28.471Z,1628947228.471 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:28.471Z,1628947228.471 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:28.472Z,1628947228.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:28.894Z,1628947228.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:29.729Z,1628947229.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,01085,184,80,80,74,FF
2021-08-14T13:20:29.729Z,1628947229.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:20:29.732Z,1628947229.732 [Micromodem](INFO): Nmea in: $SNTTA,,0.308508,,,132030.13*47

2021-08-14T13:20:30.154Z,1628947230.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.239975 m, bearing: 347.961774 deg, deltaT: 33.152416 s, approachRate: 0.827089 m/s, LOS rate: -0.230483 deg/s, posRepo size: 4
2021-08-14T13:20:32.554Z,1628947232.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:32.925Z,1628947232.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:32.925Z,1628947232.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:32.925Z,1628947232.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:32.926Z,1628947232.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:33.330Z,1628947233.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,01085,184,80,80,74,FF
2021-08-14T13:20:33.330Z,1628947233.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:33.330Z,1628947233.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:33.332Z,1628947233.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:33.732Z,1628947233.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:34.554Z,1628947234.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,010BB,183,80,80,7D,FF
2021-08-14T13:20:34.555Z,1628947234.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:20:34.558Z,1628947234.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132034.99*59

2021-08-14T13:20:34.980Z,1628947234.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.479996 m, bearing: 351.723788 deg, deltaT: 4.813383 s, approachRate: 0.673128 m/s, LOS rate: 0.781574 deg/s, posRepo size: 4
2021-08-14T13:20:37.445Z,1628947237.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:37.778Z,1628947237.778 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:37.778Z,1628947237.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:37.778Z,1628947237.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:37.779Z,1628947237.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:38.173Z,1628947238.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,010BB,183,80,80,7D,FF
2021-08-14T13:20:38.173Z,1628947238.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:38.174Z,1628947238.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:38.175Z,1628947238.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:38.590Z,1628947238.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:39.417Z,1628947239.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,010F5,183,80,80,94,FF
2021-08-14T13:20:39.417Z,1628947239.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:20:39.420Z,1628947239.420 [Micromodem](INFO): Nmea in: $SNTTA,,0.457544,,,132039.83*42

2021-08-14T13:20:39.838Z,1628947239.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.959991 m, bearing: 351.472164 deg, deltaT: 4.946068 s, approachRate: 0.703588 m/s, LOS rate: -0.050874 deg/s, posRepo size: 4
2021-08-14T13:20:42.252Z,1628947242.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:42.617Z,1628947242.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:42.617Z,1628947242.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:42.617Z,1628947242.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:42.618Z,1628947242.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:43.025Z,1628947243.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,010F5,183,80,80,94,FF
2021-08-14T13:20:43.025Z,1628947243.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:43.025Z,1628947243.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:43.027Z,1628947243.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:43.438Z,1628947243.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:44.257Z,1628947244.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,01130,184,80,80,7F,FF
2021-08-14T13:20:44.258Z,1628947244.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:20:44.261Z,1628947244.261 [Micromodem](INFO): Nmea in: $SNTTA,,0.032688,,,132044.68*49

2021-08-14T13:20:44.676Z,1628947244.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.499985 m, bearing: 351.653027 deg, deltaT: 4.815836 s, approachRate: 0.735073 m/s, LOS rate: 0.037556 deg/s, posRepo size: 4
2021-08-14T13:20:47.113Z,1628947247.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:47.469Z,1628947247.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:47.469Z,1628947247.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:47.469Z,1628947247.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:47.470Z,1628947247.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:47.869Z,1628947247.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,01130,184,80,80,7F,FF
2021-08-14T13:20:47.869Z,1628947247.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:47.869Z,1628947247.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:47.871Z,1628947247.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:48.276Z,1628947248.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:49.113Z,1628947249.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,01161,185,80,80,80,FF
2021-08-14T13:20:49.113Z,1628947249.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:20:49.118Z,1628947249.118 [Micromodem](INFO): Nmea in: $SNTTA,0.155207,,,,132049.53*4F

2021-08-14T13:20:49.542Z,1628947249.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.439987 m, bearing: 350.656120 deg, deltaT: 4.935125 s, approachRate: 0.595730 m/s, LOS rate: -0.202002 deg/s, posRepo size: 4
2021-08-14T13:20:51.931Z,1628947251.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:52.326Z,1628947252.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:52.326Z,1628947252.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:52.326Z,1628947252.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:52.327Z,1628947252.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:52.711Z,1628947252.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,01161,185,80,80,80,FF
2021-08-14T13:20:52.711Z,1628947252.711 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:52.711Z,1628947252.711 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:52.714Z,1628947252.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:53.135Z,1628947253.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:53.527Z,1628947253.527 [Micromodem](INFO): Nmea in: $SNTTA,0.148081,0.148087,,,132054.37*5D

2021-08-14T13:20:53.929Z,1628947253.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,011A5,182,80,80,90,FF
2021-08-14T13:20:53.929Z,1628947253.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:20:54.377Z,1628947254.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.520004 m, bearing: 353.401009 deg, deltaT: 4.676115 s, approachRate: 0.872523 m/s, LOS rate: 0.587002 deg/s, posRepo size: 4
2021-08-14T13:20:56.815Z,1628947256.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:20:57.169Z,1628947257.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:20:57.169Z,1628947257.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:20:57.169Z,1628947257.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:20:57.170Z,1628947257.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:20:57.565Z,1628947257.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,011A5,182,80,80,90,FF
2021-08-14T13:20:57.565Z,1628947257.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:20:57.565Z,1628947257.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:20:57.567Z,1628947257.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:20:57.997Z,1628947257.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:20:58.809Z,1628947258.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00FBF,183,80,80,7C,FF
2021-08-14T13:20:58.809Z,1628947258.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:20:58.812Z,1628947258.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132059.22*52

2021-08-14T13:20:59.264Z,1628947259.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.359985 m, bearing: 352.903088 deg, deltaT: 4.900679 s, approachRate: -5.950200 m/s, LOS rate: -0.101602 deg/s, posRepo size: 4
2021-08-14T13:21:01.626Z,1628947261.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:02.005Z,1628947262.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:02.005Z,1628947262.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:02.005Z,1628947262.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:02.006Z,1628947262.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:02.413Z,1628947262.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00FBF,183,80,80,7C,FF
2021-08-14T13:21:02.413Z,1628947262.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:02.414Z,1628947262.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:02.415Z,1628947262.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:02.845Z,1628947262.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:03.649Z,1628947263.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,0121C,185,80,80,7B,FF
2021-08-14T13:21:03.649Z,1628947263.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:03.652Z,1628947263.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132104.07*5C

2021-08-14T13:21:04.095Z,1628947264.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.660004 m, bearing: 349.757458 deg, deltaT: 4.857188 s, approachRate: 7.473464 m/s, LOS rate: -0.647624 deg/s, posRepo size: 4
2021-08-14T13:21:06.470Z,1628947266.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:06.853Z,1628947266.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:06.853Z,1628947266.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:06.853Z,1628947266.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:06.854Z,1628947266.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:07.285Z,1628947267.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,0121C,185,80,80,7B,FF
2021-08-14T13:21:07.285Z,1628947267.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:07.285Z,1628947267.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:07.287Z,1628947267.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:07.672Z,1628947267.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:08.483Z,1628947268.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,0124A,184,80,80,64,FF
2021-08-14T13:21:08.485Z,1628947268.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:08.489Z,1628947268.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132108.94*5A

2021-08-14T13:21:08.916Z,1628947268.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.419983 m, bearing: 349.986734 deg, deltaT: 4.799617 s, approachRate: 0.575042 m/s, LOS rate: 0.047770 deg/s, posRepo size: 4
2021-08-14T13:21:11.354Z,1628947271.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:11.712Z,1628947271.712 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:11.713Z,1628947271.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:11.714Z,1628947271.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:11.730Z,1628947271.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:12.121Z,1628947272.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,0124A,184,80,80,64,FF
2021-08-14T13:21:12.122Z,1628947272.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:12.122Z,1628947272.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:12.123Z,1628947272.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:12.521Z,1628947272.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:13.341Z,1628947273.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,01280,185,80,80,60,FF
2021-08-14T13:21:13.341Z,1628947273.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:13.345Z,1628947273.345 [Micromodem](INFO): Nmea in: $SNTTA,0.483950,0.483619,,,132113.78*50

2021-08-14T13:21:13.774Z,1628947273.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.659988 m, bearing: 350.728629 deg, deltaT: 4.940613 s, approachRate: 0.655790 m/s, LOS rate: 0.150163 deg/s, posRepo size: 4
2021-08-14T13:21:16.177Z,1628947276.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:16.557Z,1628947276.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:16.557Z,1628947276.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:16.558Z,1628947276.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:16.558Z,1628947276.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:16.961Z,1628947276.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,01280,185,80,80,60,FF
2021-08-14T13:21:16.961Z,1628947276.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:16.961Z,1628947276.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:16.963Z,1628947276.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:17.369Z,1628947277.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:18.995Z,1628947278.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:20.594Z,1628947280.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,09208,182,80,80,5C,FF
2021-08-14T13:21:20.594Z,1628947280.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:21.076Z,1628947281.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2205.540039 m, bearing: 354.167110 deg, deltaT: 7.165810 s, approachRate: 273.364777 m/s, LOS rate: 0.479845 deg/s, posRepo size: 4
2021-08-14T13:21:21.077Z,1628947281.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2205.54 m. Resuming terminal guidance.
2021-08-14T13:21:21.077Z,1628947281.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T13:21:23.499Z,1628947283.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:23.840Z,1628947283.840 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:23.840Z,1628947283.840 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:23.841Z,1628947283.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:23.841Z,1628947283.841 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:24.226Z,1628947284.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,09208,182,80,80,5C,FF
2021-08-14T13:21:24.227Z,1628947284.227 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:24.227Z,1628947284.227 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:24.229Z,1628947284.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:24.642Z,1628947284.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:25.461Z,1628947285.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,01311,185,80,80,6F,FF
2021-08-14T13:21:25.461Z,1628947285.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:25.465Z,1628947285.465 [Micromodem](INFO): Nmea in: $SNTTA,0.172465,,,,132125.88*45

2021-08-14T13:21:25.884Z,1628947285.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.360001 m, bearing: 356.290124 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T13:21:25.885Z,1628947285.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 356.290124deg and heading rate command to 0 deg/s.
2021-08-14T13:21:28.329Z,1628947288.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:28.682Z,1628947288.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:28.682Z,1628947288.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:28.682Z,1628947288.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:28.683Z,1628947288.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:29.113Z,1628947289.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,01311,185,80,80,6F,FF
2021-08-14T13:21:29.113Z,1628947289.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:29.113Z,1628947289.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:29.115Z,1628947289.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:29.492Z,1628947289.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:30.306Z,1628947290.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,0134B,184,80,80,59,FF
2021-08-14T13:21:30.307Z,1628947290.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:30.324Z,1628947290.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132130.77*5C

2021-08-14T13:21:30.740Z,1628947290.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.839996 m, bearing: 359.079191 deg, deltaT: 4.829723 s, approachRate: 0.720537 m/s, LOS rate: 0.577480 deg/s, posRepo size: 2
2021-08-14T13:21:30.742Z,1628947290.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.839996 m,
      bearing: 359.079191 deg,
      approachRate: 0.720537 m/s,
      LOS rate: 0.577480 deg/s,
      cmd update: 1.732439 deg/s,
      cmd heading: 356.290124 deg,
      new cmd heading: 356.290124 deg.

2021-08-14T13:21:33.168Z,1628947293.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:33.517Z,1628947293.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:33.517Z,1628947293.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:33.517Z,1628947293.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:33.518Z,1628947293.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:33.945Z,1628947293.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,0134B,184,80,80,59,FF
2021-08-14T13:21:33.945Z,1628947293.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:33.945Z,1628947293.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:33.947Z,1628947293.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:34.337Z,1628947294.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:35.153Z,1628947295.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,01386,187,80,80,54,FF
2021-08-14T13:21:35.154Z,1628947295.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:35.157Z,1628947295.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132135.60*5F

2021-08-14T13:21:35.637Z,1628947295.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.379974 m, bearing: 6.609045 deg, deltaT: 4.874979 s, approachRate: 0.726152 m/s, LOS rate: 1.544594 deg/s, posRepo size: 3
2021-08-14T13:21:35.639Z,1628947295.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.379974 m,
      bearing: 6.609045 deg,
      approachRate: 0.726152 m/s,
      LOS rate: 1.544594 deg/s,
      cmd update: 4.633782 deg/s,
      cmd heading: 4.744889 deg,
      new cmd heading: 5.409220 deg.

2021-08-14T13:21:38.029Z,1628947298.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:38.391Z,1628947298.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:38.391Z,1628947298.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:38.391Z,1628947298.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:38.392Z,1628947298.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:38.806Z,1628947298.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,01386,187,80,80,54,FF
2021-08-14T13:21:38.807Z,1628947298.807 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:38.807Z,1628947298.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:38.810Z,1628947298.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:39.216Z,1628947299.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:40.037Z,1628947300.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,013BF,186,80,80,66,FF
2021-08-14T13:21:40.038Z,1628947300.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:40.050Z,1628947300.050 [Micromodem](INFO): Nmea in: $SNTTA,,0.098184,,,132140.47*4A

2021-08-14T13:21:40.449Z,1628947300.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.799988 m, bearing: 19.110470 deg, deltaT: 4.878413 s, approachRate: 0.701050 m/s, LOS rate: 2.562601 deg/s, posRepo size: 4
2021-08-14T13:21:40.451Z,1628947300.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.799988 m,
      bearing: 19.110470 deg,
      approachRate: 0.701050 m/s,
      LOS rate: 2.562601 deg/s,
      cmd update: 7.687802 deg/s,
      cmd heading: 27.351360 deg,
      new cmd heading: 28.818499 deg.

2021-08-14T13:21:42.870Z,1628947302.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:43.277Z,1628947303.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:43.277Z,1628947303.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:43.277Z,1628947303.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:43.278Z,1628947303.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:43.642Z,1628947303.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,013BF,186,80,80,66,FF
2021-08-14T13:21:43.642Z,1628947303.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:43.642Z,1628947303.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:43.645Z,1628947303.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:44.077Z,1628947304.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:44.879Z,1628947304.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,013F9,186,80,80,5D,FF
2021-08-14T13:21:44.879Z,1628947304.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:44.882Z,1628947304.882 [Micromodem](INFO): Nmea in: $SNTTA,0.181846,,,,132145.30*41

2021-08-14T13:21:45.349Z,1628947305.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.279999 m, bearing: 38.228036 deg, deltaT: 4.802391 s, approachRate: 0.724641 m/s, LOS rate: 3.980843 deg/s, posRepo size: 4
2021-08-14T13:21:45.351Z,1628947305.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.279999 m,
      bearing: 38.228036 deg,
      approachRate: 0.724641 m/s,
      LOS rate: 3.980843 deg/s,
      cmd update: 11.942530 deg/s,
      cmd heading: 64.240495 deg,
      new cmd heading: 67.459770 deg.

2021-08-14T13:21:47.703Z,1628947307.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:48.109Z,1628947308.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:48.109Z,1628947308.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:48.109Z,1628947308.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:48.110Z,1628947308.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:48.485Z,1628947308.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,013F9,186,80,80,5D,FF
2021-08-14T13:21:48.485Z,1628947308.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:48.486Z,1628947308.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:48.487Z,1628947308.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:48.892Z,1628947308.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:49.299Z,1628947309.299 [Micromodem](INFO): Nmea in: $SNTTA,0.260044,0.259625,,,132150.14*54

2021-08-14T13:21:49.697Z,1628947309.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,0141D,187,80,80,7E,FF
2021-08-14T13:21:49.697Z,1628947309.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:50.188Z,1628947310.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.440002 m, bearing: 62.410696 deg, deltaT: 4.808981 s, approachRate: 0.449160 m/s, LOS rate: 5.028645 deg/s, posRepo size: 4
2021-08-14T13:21:50.190Z,1628947310.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.440002 m,
      bearing: 62.410696 deg,
      approachRate: 0.449160 m/s,
      LOS rate: 5.028645 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 121.719583 deg,
      new cmd heading: 126.830998 deg.

2021-08-14T13:21:51.355Z,1628947311.355 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:21:52.546Z,1628947312.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:52.937Z,1628947312.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:52.937Z,1628947312.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:52.937Z,1628947312.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:52.938Z,1628947312.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:53.341Z,1628947313.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,0141D,187,80,80,7E,FF
2021-08-14T13:21:53.341Z,1628947313.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:53.342Z,1628947313.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:53.343Z,1628947313.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:53.740Z,1628947313.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:54.573Z,1628947314.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,223,000,01438,187,80,80,4A,FF
2021-08-14T13:21:54.574Z,1628947314.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:54.577Z,1628947314.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132155.00*5F

2021-08-14T13:21:55.003Z,1628947315.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.059998 m, bearing: 43.267592 deg, deltaT: 4.844884 s, approachRate: 0.334372 m/s, LOS rate: -3.951200 deg/s, posRepo size: 4
2021-08-14T13:21:55.006Z,1628947315.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.059998 m,
      bearing: 43.267592 deg,
      approachRate: 0.334372 m/s,
      LOS rate: -3.951200 deg/s,
      cmd update: -11.853599 deg/s,
      cmd heading: 179.906108 deg,
      new cmd heading: 184.820972 deg.

2021-08-14T13:21:57.461Z,1628947317.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:21:57.777Z,1628947317.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:21:57.778Z,1628947317.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:21:57.778Z,1628947317.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:21:57.779Z,1628947317.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:21:58.181Z,1628947318.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
223,000,01438,187,80,80,4A,FF
2021-08-14T13:21:58.181Z,1628947318.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:21:58.181Z,1628947318.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:21:58.183Z,1628947318.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:21:58.597Z,1628947318.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:21:59.417Z,1628947319.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAD,000,0143A,189,80,80,A8,FF
2021-08-14T13:21:59.417Z,1628947319.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:21:59.449Z,1628947319.449 [Micromodem](INFO): Nmea in: $SNTTA,0.184502,,,,132159.84*4B

2021-08-14T13:21:59.828Z,1628947319.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.179993 m, bearing: 119.030895 deg, deltaT: 4.913593 s, approachRate: 0.024421 m/s, LOS rate: 15.419125 deg/s, posRepo size: 4
2021-08-14T13:21:59.829Z,1628947319.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.419125 deg/s. Setting heading cmd to target bearing of 119.030895deg and heading rate command to 0 deg/s.
2021-08-14T13:22:02.263Z,1628947322.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:02.633Z,1628947322.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:02.633Z,1628947322.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:02.634Z,1628947322.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:02.635Z,1628947322.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:03.041Z,1628947323.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAD,000,0143A,189,80,80,A8,FF
2021-08-14T13:22:03.041Z,1628947323.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:03.042Z,1628947323.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:03.053Z,1628947323.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:03.444Z,1628947323.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:04.253Z,1628947324.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01432,189,80,80,97,FF
2021-08-14T13:22:04.254Z,1628947324.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:04.257Z,1628947324.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132204.71*5E

2021-08-14T13:22:04.684Z,1628947324.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.699982 m, bearing: 172.173045 deg, deltaT: 4.796733 s, approachRate: -0.100070 m/s, LOS rate: 11.078822 deg/s, posRepo size: 4
2021-08-14T13:22:04.686Z,1628947324.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.699982 m,
      bearing: 172.173045 deg,
      approachRate: -0.100070 m/s,
      LOS rate: 11.078822 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 119.030895 deg,
      new cmd heading: 119.030895 deg.

2021-08-14T13:22:07.149Z,1628947327.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:07.489Z,1628947327.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:07.489Z,1628947327.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:07.490Z,1628947327.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:07.491Z,1628947327.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:07.885Z,1628947327.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01432,189,80,80,97,FF
2021-08-14T13:22:07.885Z,1628947327.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:07.885Z,1628947327.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:07.887Z,1628947327.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:08.301Z,1628947328.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:09.133Z,1628947329.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C21,000,0141B,189,80,80,B8,FF
2021-08-14T13:22:09.133Z,1628947329.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:09.136Z,1628947329.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132209.54*54

2021-08-14T13:22:09.567Z,1628947329.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.320007 m, bearing: 170.472861 deg, deltaT: 4.863530 s, approachRate: -0.283739 m/s, LOS rate: -0.349578 deg/s, posRepo size: 4
2021-08-14T13:22:09.573Z,1628947329.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.320007 m,
      bearing: 170.472861 deg,
      approachRate: -0.283739 m/s,
      LOS rate: -0.349578 deg/s,
      cmd update: -1.048735 deg/s,
      cmd heading: 177.393197 deg,
      new cmd heading: 182.204465 deg.

2021-08-14T13:22:11.962Z,1628947331.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:12.329Z,1628947332.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:12.329Z,1628947332.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:12.329Z,1628947332.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:12.330Z,1628947332.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:12.741Z,1628947332.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C21,000,0141B,189,80,80,B8,FF
2021-08-14T13:22:12.741Z,1628947332.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:12.742Z,1628947332.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:12.743Z,1628947332.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:13.140Z,1628947333.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:13.969Z,1628947333.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,013FA,189,80,80,92,FF
2021-08-14T13:22:13.969Z,1628947333.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:13.973Z,1628947333.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132214.40*5D

2021-08-14T13:22:14.386Z,1628947334.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.339996 m, bearing: 172.384494 deg, deltaT: 4.862101 s, approachRate: -0.407234 m/s, LOS rate: 0.393170 deg/s, posRepo size: 4
2021-08-14T13:22:14.408Z,1628947334.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.339996 m,
      bearing: 172.384494 deg,
      approachRate: -0.407234 m/s,
      LOS rate: 0.393170 deg/s,
      cmd update: 1.179511 deg/s,
      cmd heading: 172.298416 deg,
      new cmd heading: 171.918823 deg.

2021-08-14T13:22:16.836Z,1628947336.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:17.194Z,1628947337.194 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:17.194Z,1628947337.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:17.195Z,1628947337.195 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:17.205Z,1628947337.205 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:17.585Z,1628947337.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,013FA,189,80,80,92,FF
2021-08-14T13:22:17.585Z,1628947337.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:17.585Z,1628947337.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:17.587Z,1628947337.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:17.993Z,1628947337.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:18.815Z,1628947338.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,013CF,186,80,80,A6,FF
2021-08-14T13:22:18.816Z,1628947338.816 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:18.819Z,1628947338.819 [Micromodem](INFO): Nmea in: $SNTTA,0.179978,,,,132219.24*45

2021-08-14T13:22:19.267Z,1628947339.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.759979 m, bearing: 174.476363 deg, deltaT: 4.806609 s, approachRate: -0.536765 m/s, LOS rate: 0.435207 deg/s, posRepo size: 4
2021-08-14T13:22:19.269Z,1628947339.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.759979 m,
      bearing: 174.476363 deg,
      approachRate: -0.536765 m/s,
      LOS rate: 0.435207 deg/s,
      cmd update: 1.305620 deg/s,
      cmd heading: 177.972680 deg,
      new cmd heading: 178.482074 deg.

2021-08-14T13:22:21.647Z,1628947341.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:22.029Z,1628947342.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:22.029Z,1628947342.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:22.029Z,1628947342.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:22.030Z,1628947342.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:22.429Z,1628947342.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,013CF,186,80,80,A6,FF
2021-08-14T13:22:22.429Z,1628947342.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:22.430Z,1628947342.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:22.431Z,1628947342.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:22.852Z,1628947342.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:23.665Z,1628947343.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,0139E,186,80,80,A8,FF
2021-08-14T13:22:23.666Z,1628947343.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:23.669Z,1628947343.669 [Micromodem](INFO): Nmea in: $SNTTA,,0.289517,,,132224.09*4D

2021-08-14T13:22:24.117Z,1628947344.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.820007 m, bearing: 169.112670 deg, deltaT: 4.874105 s, approachRate: -0.603182 m/s, LOS rate: -1.100447 deg/s, posRepo size: 4
2021-08-14T13:22:24.119Z,1628947344.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.820007 m,
      bearing: 169.112670 deg,
      approachRate: -0.603182 m/s,
      LOS rate: -1.100447 deg/s,
      cmd update: -3.301340 deg/s,
      cmd heading: 184.330822 deg,
      new cmd heading: 184.869024 deg.

2021-08-14T13:22:26.493Z,1628947346.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:26.884Z,1628947346.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:26.885Z,1628947346.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:26.885Z,1628947346.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:26.886Z,1628947346.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:27.289Z,1628947347.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,0139E,186,80,80,A8,FF
2021-08-14T13:22:27.289Z,1628947347.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:27.289Z,1628947347.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:27.291Z,1628947347.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:27.688Z,1628947347.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:28.529Z,1628947348.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CB,000,0136A,186,80,80,9F,FF
2021-08-14T13:22:28.529Z,1628947348.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:28.532Z,1628947348.532 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132228.95*5A

2021-08-14T13:22:28.933Z,1628947348.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.699982 m, bearing: 166.840881 deg, deltaT: 4.838356 s, approachRate: -0.644852 m/s, LOS rate: -0.469537 deg/s, posRepo size: 4
2021-08-14T13:22:28.935Z,1628947348.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.699982 m,
      bearing: 166.840881 deg,
      approachRate: -0.644852 m/s,
      LOS rate: -0.469537 deg/s,
      cmd update: -1.408612 deg/s,
      cmd heading: 168.343648 deg,
      new cmd heading: 167.072480 deg.

2021-08-14T13:22:31.406Z,1628947351.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:31.725Z,1628947351.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:31.725Z,1628947351.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:31.725Z,1628947351.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:31.726Z,1628947351.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:32.133Z,1628947352.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CB,000,0136A,186,80,80,9F,FF
2021-08-14T13:22:32.133Z,1628947352.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:32.134Z,1628947352.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:32.135Z,1628947352.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:32.536Z,1628947352.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:33.354Z,1628947353.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,01337,185,80,80,B7,FF
2021-08-14T13:22:33.354Z,1628947353.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:33.357Z,1628947353.357 [Micromodem](INFO): Nmea in: $SNTTA,0.475594,0.475475,,,132233.79*5C

2021-08-14T13:22:33.789Z,1628947353.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.639984 m, bearing: 165.940703 deg, deltaT: 4.896748 s, approachRate: -0.624904 m/s, LOS rate: -0.183832 deg/s, posRepo size: 4
2021-08-14T13:22:33.797Z,1628947353.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.639984 m,
      bearing: 165.940703 deg,
      approachRate: -0.624904 m/s,
      LOS rate: -0.183832 deg/s,
      cmd update: -0.551495 deg/s,
      cmd heading: 161.451636 deg,
      new cmd heading: 160.960706 deg.

2021-08-14T13:22:36.210Z,1628947356.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:36.573Z,1628947356.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:36.573Z,1628947356.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:36.573Z,1628947356.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:36.574Z,1628947356.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:36.985Z,1628947356.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,01337,185,80,80,B7,FF
2021-08-14T13:22:36.986Z,1628947356.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:36.986Z,1628947356.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:37.014Z,1628947357.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:37.381Z,1628947357.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:38.217Z,1628947358.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,01303,186,80,80,8F,FF
2021-08-14T13:22:38.218Z,1628947358.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:38.221Z,1628947358.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132238.67*56

2021-08-14T13:22:38.638Z,1628947358.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.520004 m, bearing: 166.872299 deg, deltaT: 4.823156 s, approachRate: -0.646875 m/s, LOS rate: 0.193151 deg/s, posRepo size: 4
2021-08-14T13:22:38.640Z,1628947358.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.520004 m,
      bearing: 166.872299 deg,
      approachRate: -0.646875 m/s,
      LOS rate: 0.193151 deg/s,
      cmd update: 0.579453 deg/s,
      cmd heading: 158.791758 deg,
      new cmd heading: 158.584850 deg.

2021-08-14T13:22:41.092Z,1628947361.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:41.429Z,1628947361.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:41.429Z,1628947361.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:41.429Z,1628947361.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:41.430Z,1628947361.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:41.865Z,1628947361.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,01303,186,80,80,8F,FF
2021-08-14T13:22:41.865Z,1628947361.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:41.865Z,1628947361.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:41.867Z,1628947361.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:42.244Z,1628947362.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:43.049Z,1628947363.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00FCF,186,80,80,86,FF
2021-08-14T13:22:43.051Z,1628947363.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:43.089Z,1628947363.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132243.52*5C

2021-08-14T13:22:43.507Z,1628947363.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.319992 m, bearing: 168.010960 deg, deltaT: 4.865038 s, approachRate: -10.112976 m/s, LOS rate: 0.234050 deg/s, posRepo size: 4
2021-08-14T13:22:43.509Z,1628947363.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.319992 m,
      bearing: 168.010960 deg,
      approachRate: -10.112976 m/s,
      LOS rate: 0.234050 deg/s,
      cmd update: 0.702149 deg/s,
      cmd heading: 161.610863 deg,
      new cmd heading: 161.830221 deg.

2021-08-14T13:22:45.886Z,1628947365.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:46.269Z,1628947366.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:46.269Z,1628947366.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:46.269Z,1628947366.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:46.270Z,1628947366.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:46.667Z,1628947366.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00FCF,186,80,80,86,FF
2021-08-14T13:22:46.667Z,1628947366.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:46.667Z,1628947366.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:46.669Z,1628947366.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:47.105Z,1628947367.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:47.903Z,1628947367.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,0129D,187,80,80,95,FF
2021-08-14T13:22:47.903Z,1628947367.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:47.906Z,1628947367.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132248.33*50

2021-08-14T13:22:48.331Z,1628947368.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.399979 m, bearing: 169.453920 deg, deltaT: 4.789709 s, approachRate: 8.994281 m/s, LOS rate: 0.301262 deg/s, posRepo size: 4
2021-08-14T13:22:48.333Z,1628947368.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.399979 m,
      bearing: 169.453920 deg,
      approachRate: 8.994281 m/s,
      LOS rate: 0.301262 deg/s,
      cmd update: 0.903787 deg/s,
      cmd heading: 164.976790 deg,
      new cmd heading: 165.263818 deg.

2021-08-14T13:22:50.734Z,1628947370.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:51.129Z,1628947371.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:51.129Z,1628947371.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:51.129Z,1628947371.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:51.130Z,1628947371.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:51.530Z,1628947371.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,0129D,187,80,80,95,FF
2021-08-14T13:22:51.530Z,1628947371.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:51.530Z,1628947371.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:51.531Z,1628947371.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:51.948Z,1628947371.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:52.774Z,1628947372.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,0126A,186,80,80,98,FF
2021-08-14T13:22:52.774Z,1628947372.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:52.779Z,1628947372.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132253.19*52

2021-08-14T13:22:53.256Z,1628947373.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.339981 m, bearing: 169.753191 deg, deltaT: 4.878162 s, approachRate: -0.627285 m/s, LOS rate: 0.061349 deg/s, posRepo size: 4
2021-08-14T13:22:53.258Z,1628947373.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.339981 m,
      bearing: 169.753191 deg,
      approachRate: -0.627285 m/s,
      LOS rate: 0.061349 deg/s,
      cmd update: 0.184048 deg/s,
      cmd heading: 169.385611 deg,
      new cmd heading: 169.790212 deg.

2021-08-14T13:22:55.603Z,1628947375.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:22:55.984Z,1628947375.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:22:55.985Z,1628947375.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:22:55.985Z,1628947375.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:22:55.986Z,1628947375.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:22:56.369Z,1628947376.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,0126A,186,80,80,98,FF
2021-08-14T13:22:56.369Z,1628947376.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:22:56.369Z,1628947376.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:22:56.371Z,1628947376.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:22:56.787Z,1628947376.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:22:57.609Z,1628947377.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,01234,187,80,80,A5,FF
2021-08-14T13:22:57.609Z,1628947377.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:22:57.612Z,1628947377.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132258.03*52

2021-08-14T13:22:58.055Z,1628947378.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.099991 m, bearing: 170.253352 deg, deltaT: 4.847537 s, approachRate: -0.668379 m/s, LOS rate: 0.103178 deg/s, posRepo size: 4
2021-08-14T13:22:58.063Z,1628947378.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.099991 m,
      bearing: 170.253352 deg,
      approachRate: -0.668379 m/s,
      LOS rate: 0.103178 deg/s,
      cmd update: 0.309535 deg/s,
      cmd heading: 170.277788 deg,
      new cmd heading: 170.352015 deg.

2021-08-14T13:23:00.435Z,1628947380.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:00.834Z,1628947380.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:00.834Z,1628947380.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:00.835Z,1628947380.835 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:00.835Z,1628947380.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:01.262Z,1628947381.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,01234,187,80,80,A5,FF
2021-08-14T13:23:01.262Z,1628947381.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:01.262Z,1628947381.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:01.264Z,1628947381.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:01.645Z,1628947381.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:02.432Z,1628947382.432 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,01201,186,80,80,96,FF
2021-08-14T13:23:02.432Z,1628947382.432 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:02.441Z,1628947382.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132302.92*54

2021-08-14T13:23:02.884Z,1628947382.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.039993 m, bearing: 171.222652 deg, deltaT: 4.853230 s, approachRate: -0.630507 m/s, LOS rate: 0.199723 deg/s, posRepo size: 4
2021-08-14T13:23:02.886Z,1628947382.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.039993 m,
      bearing: 171.222652 deg,
      approachRate: -0.630507 m/s,
      LOS rate: 0.199723 deg/s,
      cmd update: 0.599168 deg/s,
      cmd heading: 171.776217 deg,
      new cmd heading: 171.898494 deg.

2021-08-14T13:23:05.359Z,1628947385.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:05.658Z,1628947385.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:05.658Z,1628947385.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:05.658Z,1628947385.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:05.659Z,1628947385.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:06.081Z,1628947386.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,01201,186,80,80,96,FF
2021-08-14T13:23:06.081Z,1628947386.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:06.081Z,1628947386.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:06.083Z,1628947386.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:06.471Z,1628947386.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:07.293Z,1628947387.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,011CC,184,80,80,9A,FF
2021-08-14T13:23:07.293Z,1628947387.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:07.298Z,1628947387.298 [Micromodem](INFO): Nmea in: $SNTTA,0.159243,0.460468,,,132307.74*59

2021-08-14T13:23:07.706Z,1628947387.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.859985 m, bearing: 170.853180 deg, deltaT: 4.919921 s, approachRate: -0.646353 m/s, LOS rate: -0.075097 deg/s, posRepo size: 4
2021-08-14T13:23:07.707Z,1628947387.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.859985 m,
      bearing: 170.853180 deg,
      approachRate: -0.646353 m/s,
      LOS rate: -0.075097 deg/s,
      cmd update: -0.225292 deg/s,
      cmd heading: 174.726510 deg,
      new cmd heading: 174.902097 deg.

2021-08-14T13:23:10.137Z,1628947390.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:10.501Z,1628947390.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:10.501Z,1628947390.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:10.501Z,1628947390.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:10.502Z,1628947390.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:10.906Z,1628947390.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,011CC,184,80,80,9A,FF
2021-08-14T13:23:10.906Z,1628947390.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:10.906Z,1628947390.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:10.908Z,1628947390.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:11.342Z,1628947391.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:12.135Z,1628947392.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,01197,185,80,80,8A,FF
2021-08-14T13:23:12.137Z,1628947392.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:12.141Z,1628947392.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132312.57*5C

2021-08-14T13:23:12.555Z,1628947392.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.680008 m, bearing: 171.396576 deg, deltaT: 4.801763 s, approachRate: -0.662252 m/s, LOS rate: 0.113166 deg/s, posRepo size: 4
2021-08-14T13:23:12.557Z,1628947392.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.680008 m,
      bearing: 171.396576 deg,
      approachRate: -0.662252 m/s,
      LOS rate: 0.113166 deg/s,
      cmd update: 0.339498 deg/s,
      cmd heading: 173.642869 deg,
      new cmd heading: 173.568059 deg.

2021-08-14T13:23:14.965Z,1628947394.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:15.361Z,1628947395.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:15.361Z,1628947395.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:15.361Z,1628947395.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:15.362Z,1628947395.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:15.766Z,1628947395.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,01197,185,80,80,8A,FF
2021-08-14T13:23:15.767Z,1628947395.767 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:15.767Z,1628947395.767 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:15.770Z,1628947395.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:16.161Z,1628947396.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:16.990Z,1628947396.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,01162,183,80,80,9C,FF
2021-08-14T13:23:16.991Z,1628947396.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:16.994Z,1628947396.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132317.43*5C

2021-08-14T13:23:17.439Z,1628947397.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.500000 m, bearing: 171.322414 deg, deltaT: 4.847204 s, approachRate: -0.656050 m/s, LOS rate: -0.015300 deg/s, posRepo size: 4
2021-08-14T13:23:17.457Z,1628947397.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.500000 m,
      bearing: 171.322414 deg,
      approachRate: -0.656050 m/s,
      LOS rate: -0.015300 deg/s,
      cmd update: -0.045900 deg/s,
      cmd heading: 175.270776 deg,
      new cmd heading: 175.413754 deg.

2021-08-14T13:23:19.818Z,1628947399.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:20.197Z,1628947400.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:20.197Z,1628947400.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:20.197Z,1628947400.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:20.198Z,1628947400.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:20.601Z,1628947400.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,01162,183,80,80,9C,FF
2021-08-14T13:23:20.601Z,1628947400.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:20.602Z,1628947400.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:20.603Z,1628947400.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:21.023Z,1628947401.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:21.852Z,1628947401.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,0112D,183,80,80,8A,FF
2021-08-14T13:23:21.853Z,1628947401.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:21.855Z,1628947401.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132322.26*59

2021-08-14T13:23:22.254Z,1628947402.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.319992 m, bearing: 170.820367 deg, deltaT: 4.801603 s, approachRate: -0.662280 m/s, LOS rate: -0.104558 deg/s, posRepo size: 4
2021-08-14T13:23:22.276Z,1628947402.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.319992 m,
      bearing: 170.820367 deg,
      approachRate: -0.662280 m/s,
      LOS rate: -0.104558 deg/s,
      cmd update: -0.313674 deg/s,
      cmd heading: 175.047985 deg,
      new cmd heading: 175.030437 deg.

2021-08-14T13:23:24.658Z,1628947404.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:25.068Z,1628947405.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:25.069Z,1628947405.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:25.069Z,1628947405.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:25.070Z,1628947405.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:25.445Z,1628947405.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,0112D,183,80,80,8A,FF
2021-08-14T13:23:25.445Z,1628947405.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:25.446Z,1628947405.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:25.447Z,1628947405.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:25.857Z,1628947405.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:26.685Z,1628947406.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,010F2,184,80,80,8D,FF
2021-08-14T13:23:26.686Z,1628947406.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:26.689Z,1628947406.689 [Micromodem](INFO): Nmea in: $SNTTA,0.150560,,,,132327.10*40

2021-08-14T13:23:27.134Z,1628947407.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.779984 m, bearing: 170.522858 deg, deltaT: 4.832950 s, approachRate: -0.732474 m/s, LOS rate: -0.061559 deg/s, posRepo size: 4
2021-08-14T13:23:27.140Z,1628947407.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.779984 m,
      bearing: 170.522858 deg,
      approachRate: -0.732474 m/s,
      LOS rate: -0.061559 deg/s,
      cmd update: -0.184676 deg/s,
      cmd heading: 173.532001 deg,
      new cmd heading: 173.397340 deg.

2021-08-14T13:23:29.535Z,1628947409.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:29.889Z,1628947409.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:29.889Z,1628947409.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:29.889Z,1628947409.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:29.890Z,1628947409.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:30.294Z,1628947410.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,010F2,184,80,80,8D,FF
2021-08-14T13:23:30.294Z,1628947410.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:30.294Z,1628947410.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:30.296Z,1628947410.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:30.715Z,1628947410.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:31.529Z,1628947411.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,010BD,183,80,80,AB,FF
2021-08-14T13:23:31.529Z,1628947411.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:31.557Z,1628947411.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132331.95*53

2021-08-14T13:23:31.944Z,1628947411.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.599991 m, bearing: 170.421293 deg, deltaT: 4.954806 s, approachRate: -0.641800 m/s, LOS rate: -0.020498 deg/s, posRepo size: 4
2021-08-14T13:23:31.946Z,1628947411.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.599991 m,
      bearing: 170.421293 deg,
      approachRate: -0.641800 m/s,
      LOS rate: -0.020498 deg/s,
      cmd update: -0.061495 deg/s,
      cmd heading: 172.618983 deg,
      new cmd heading: 172.564426 deg.

2021-08-14T13:23:34.385Z,1628947414.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:34.741Z,1628947414.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:34.741Z,1628947414.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:34.741Z,1628947414.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:34.742Z,1628947414.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:35.145Z,1628947415.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,010BD,183,80,80,AB,FF
2021-08-14T13:23:35.145Z,1628947415.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:35.145Z,1628947415.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:35.147Z,1628947415.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:35.552Z,1628947415.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:36.373Z,1628947416.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0108A,184,80,80,AD,FF
2021-08-14T13:23:36.374Z,1628947416.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:36.376Z,1628947416.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132336.81*51

2021-08-14T13:23:36.800Z,1628947416.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.539993 m, bearing: 171.663021 deg, deltaT: 4.787418 s, approachRate: -0.639175 m/s, LOS rate: 0.259373 deg/s, posRepo size: 4
2021-08-14T13:23:36.802Z,1628947416.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.539993 m,
      bearing: 171.663021 deg,
      approachRate: -0.639175 m/s,
      LOS rate: 0.259373 deg/s,
      cmd update: 0.778120 deg/s,
      cmd heading: 172.324158 deg,
      new cmd heading: 172.302187 deg.

2021-08-14T13:23:39.266Z,1628947419.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:39.593Z,1628947419.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:39.593Z,1628947419.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:39.593Z,1628947419.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:39.594Z,1628947419.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:39.993Z,1628947419.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0108A,184,80,80,AD,FF
2021-08-14T13:23:39.993Z,1628947419.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:39.993Z,1628947419.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:39.995Z,1628947419.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:40.416Z,1628947420.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:41.253Z,1628947421.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,01051,185,80,80,A9,FF
2021-08-14T13:23:41.253Z,1628947421.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:41.256Z,1628947421.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132341.65*5B

2021-08-14T13:23:41.640Z,1628947421.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.119995 m, bearing: 171.972702 deg, deltaT: 4.904261 s, approachRate: -0.697352 m/s, LOS rate: 0.063145 deg/s, posRepo size: 4
2021-08-14T13:23:41.642Z,1628947421.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.119995 m,
      bearing: 171.972702 deg,
      approachRate: -0.697352 m/s,
      LOS rate: 0.063145 deg/s,
      cmd update: 0.189436 deg/s,
      cmd heading: 176.139411 deg,
      new cmd heading: 176.368093 deg.

2021-08-14T13:23:44.117Z,1628947424.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:44.441Z,1628947424.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:44.441Z,1628947424.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:44.441Z,1628947424.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:44.442Z,1628947424.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:44.837Z,1628947424.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,01051,185,80,80,A9,FF
2021-08-14T13:23:44.838Z,1628947424.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:44.838Z,1628947424.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:44.839Z,1628947424.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:45.280Z,1628947425.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:46.085Z,1628947426.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0101E,183,80,80,A1,FF
2021-08-14T13:23:46.086Z,1628947426.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:46.110Z,1628947426.110 [Micromodem](INFO): Nmea in: $SNTTA,0.139777,,,,132346.50*48

2021-08-14T13:23:46.523Z,1628947426.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.059998 m, bearing: 170.918025 deg, deltaT: 4.818102 s, approachRate: -0.635104 m/s, LOS rate: -0.218899 deg/s, posRepo size: 4
2021-08-14T13:23:46.525Z,1628947426.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.059998 m,
      bearing: 170.918025 deg,
      approachRate: -0.635104 m/s,
      LOS rate: -0.218899 deg/s,
      cmd update: -0.656696 deg/s,
      cmd heading: 177.051533 deg,
      new cmd heading: 177.116500 deg.

2021-08-14T13:23:48.907Z,1628947428.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:49.285Z,1628947429.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:49.285Z,1628947429.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:49.285Z,1628947429.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:49.286Z,1628947429.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:49.686Z,1628947429.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0101E,183,80,80,A1,FF
2021-08-14T13:23:49.686Z,1628947429.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:49.686Z,1628947429.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:49.704Z,1628947429.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:50.116Z,1628947430.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:50.917Z,1628947430.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00FEA,182,80,80,BE,FF
2021-08-14T13:23:50.917Z,1628947430.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:50.920Z,1628947430.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132351.36*5C

2021-08-14T13:23:51.371Z,1628947431.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.939987 m, bearing: 171.303289 deg, deltaT: 4.766917 s, approachRate: -0.654513 m/s, LOS rate: 0.080820 deg/s, posRepo size: 4
2021-08-14T13:23:51.389Z,1628947431.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.939987 m,
      bearing: 171.303289 deg,
      approachRate: -0.654513 m/s,
      LOS rate: 0.080820 deg/s,
      cmd update: 0.242461 deg/s,
      cmd heading: 173.915687 deg,
      new cmd heading: 173.629790 deg.

2021-08-14T13:23:53.750Z,1628947433.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:54.145Z,1628947434.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:54.145Z,1628947434.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:54.145Z,1628947434.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:54.146Z,1628947434.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:54.556Z,1628947434.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00FEA,182,80,80,BE,FF
2021-08-14T13:23:54.557Z,1628947434.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:54.557Z,1628947434.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:54.558Z,1628947434.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:54.948Z,1628947434.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:23:55.766Z,1628947435.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00FBF,183,80,80,C2,FF
2021-08-14T13:23:55.767Z,1628947435.767 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:23:55.778Z,1628947435.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132356.22*5E

2021-08-14T13:23:56.199Z,1628947436.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.359985 m, bearing: 171.055189 deg, deltaT: 4.889938 s, approachRate: -0.527614 m/s, LOS rate: -0.050737 deg/s, posRepo size: 4
2021-08-14T13:23:56.201Z,1628947436.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.359985 m,
      bearing: 171.055189 deg,
      approachRate: -0.527614 m/s,
      LOS rate: -0.050737 deg/s,
      cmd update: -0.152210 deg/s,
      cmd heading: 175.098202 deg,
      new cmd heading: 175.191704 deg.

2021-08-14T13:23:58.600Z,1628947438.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:23:58.981Z,1628947438.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:23:58.981Z,1628947438.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:23:58.981Z,1628947438.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:23:58.982Z,1628947438.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:23:59.387Z,1628947439.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00FBF,183,80,80,C2,FF
2021-08-14T13:23:59.387Z,1628947439.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:23:59.387Z,1628947439.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:23:59.389Z,1628947439.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:23:59.806Z,1628947439.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:00.622Z,1628947440.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00F7F,182,80,80,AF,FF
2021-08-14T13:24:00.622Z,1628947440.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:00.626Z,1628947440.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132401.05*5E

2021-08-14T13:24:01.084Z,1628947441.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.520004 m, bearing: 170.316395 deg, deltaT: 4.855566 s, approachRate: -0.790841 m/s, LOS rate: -0.152154 deg/s, posRepo size: 4
2021-08-14T13:24:01.086Z,1628947441.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 170.316395 deg,
      approachRate: -0.790841 m/s,
      LOS rate: -0.152154 deg/s,
      cmd update: -0.456462 deg/s,
      cmd heading: 174.359060 deg,
      new cmd heading: 174.296528 deg.

2021-08-14T13:24:03.509Z,1628947443.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:03.837Z,1628947443.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:03.837Z,1628947443.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:03.837Z,1628947443.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:03.838Z,1628947443.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:04.233Z,1628947444.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,00F7F,182,80,80,AF,FF
2021-08-14T13:24:04.233Z,1628947444.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:04.233Z,1628947444.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:04.235Z,1628947444.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:04.640Z,1628947444.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:05.463Z,1628947445.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00F48,183,80,80,C0,FF
2021-08-14T13:24:05.464Z,1628947445.464 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:05.466Z,1628947445.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132405.89*5E

2021-08-14T13:24:05.892Z,1628947445.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.219986 m, bearing: 170.614328 deg, deltaT: 4.853696 s, approachRate: -0.679898 m/s, LOS rate: 0.061383 deg/s, posRepo size: 4
2021-08-14T13:24:05.894Z,1628947445.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.219986 m,
      bearing: 170.614328 deg,
      approachRate: -0.679898 m/s,
      LOS rate: 0.061383 deg/s,
      cmd update: 0.184148 deg/s,
      cmd heading: 172.150755 deg,
      new cmd heading: 171.975083 deg.

2021-08-14T13:24:08.329Z,1628947448.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:08.686Z,1628947448.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:08.686Z,1628947448.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:08.686Z,1628947448.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:08.687Z,1628947448.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:09.103Z,1628947449.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00F48,183,80,80,C0,FF
2021-08-14T13:24:09.103Z,1628947449.103 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:09.103Z,1628947449.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:09.105Z,1628947449.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:09.488Z,1628947449.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:10.305Z,1628947450.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00F12,185,80,80,B3,FF
2021-08-14T13:24:10.306Z,1628947450.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:10.309Z,1628947450.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132410.76*5A

2021-08-14T13:24:10.748Z,1628947450.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.979996 m, bearing: 171.881150 deg, deltaT: 4.825127 s, approachRate: -0.671483 m/s, LOS rate: 0.262547 deg/s, posRepo size: 4
2021-08-14T13:24:10.750Z,1628947450.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.979996 m,
      bearing: 171.881150 deg,
      approachRate: -0.671483 m/s,
      LOS rate: 0.262547 deg/s,
      cmd update: 0.787641 deg/s,
      cmd heading: 173.043711 deg,
      new cmd heading: 173.115864 deg.

2021-08-14T13:24:13.170Z,1628947453.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:13.525Z,1628947453.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:13.525Z,1628947453.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:13.525Z,1628947453.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:13.526Z,1628947453.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:13.937Z,1628947453.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00F12,185,80,80,B3,FF
2021-08-14T13:24:13.937Z,1628947453.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:13.937Z,1628947453.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:13.939Z,1628947453.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:14.336Z,1628947454.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:15.169Z,1628947455.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00EDD,183,80,80,AB,FF
2021-08-14T13:24:15.170Z,1628947455.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:15.172Z,1628947455.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132415.60*58

2021-08-14T13:24:15.620Z,1628947455.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.799988 m, bearing: 171.607916 deg, deltaT: 4.924558 s, approachRate: -0.645745 m/s, LOS rate: -0.055484 deg/s, posRepo size: 4
2021-08-14T13:24:15.622Z,1628947455.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 171.607916 deg,
      approachRate: -0.645745 m/s,
      LOS rate: -0.055484 deg/s,
      cmd update: -0.166452 deg/s,
      cmd heading: 176.911661 deg,
      new cmd heading: 177.189474 deg.

2021-08-14T13:24:18.002Z,1628947458.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:18.381Z,1628947458.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:18.381Z,1628947458.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:18.381Z,1628947458.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:18.382Z,1628947458.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:18.799Z,1628947458.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00EDD,183,80,80,AB,FF
2021-08-14T13:24:18.799Z,1628947458.799 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:18.799Z,1628947458.799 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:18.801Z,1628947458.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:19.195Z,1628947459.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:20.007Z,1628947460.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00EA5,183,80,80,88,FF
2021-08-14T13:24:20.008Z,1628947460.008 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:20.011Z,1628947460.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132420.46*5A

2021-08-14T13:24:20.456Z,1628947460.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.440002 m, bearing: 169.570443 deg, deltaT: 4.752299 s, approachRate: -0.707023 m/s, LOS rate: -0.428734 deg/s, posRepo size: 4
2021-08-14T13:24:20.458Z,1628947460.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.440002 m,
      bearing: 169.570443 deg,
      approachRate: -0.707023 m/s,
      LOS rate: -0.428734 deg/s,
      cmd update: -1.286202 deg/s,
      cmd heading: 176.118742 deg,
      new cmd heading: 176.047958 deg.

2021-08-14T13:24:22.856Z,1628947462.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:23.265Z,1628947463.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:23.265Z,1628947463.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:23.265Z,1628947463.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:23.266Z,1628947463.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:23.634Z,1628947463.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00EA5,183,80,80,88,FF
2021-08-14T13:24:23.635Z,1628947463.635 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:23.635Z,1628947463.635 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:23.638Z,1628947463.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:24.029Z,1628947464.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:24.446Z,1628947464.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00EA5,183,80,80,88,FF
2021-08-14T13:24:24.446Z,1628947464.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:24.881Z,1628947464.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132425.30*5E

2021-08-14T13:24:24.897Z,1628947464.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.440002 m, bearing: 170.377402 deg, deltaT: 4.472648 s, approachRate: 0.000000 m/s, LOS rate: 0.180421 deg/s, posRepo size: 4
2021-08-14T13:24:24.899Z,1628947464.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.440002 m,
      bearing: 170.377402 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.180421 deg/s,
      cmd update: 0.541263 deg/s,
      cmd heading: 170.362760 deg,
      new cmd heading: 169.859842 deg.

2021-08-14T13:24:27.337Z,1628947467.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:27.679Z,1628947467.679 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:27.679Z,1628947467.679 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:27.679Z,1628947467.679 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:27.680Z,1628947467.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:28.089Z,1628947468.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00EA5,183,80,80,88,FF
2021-08-14T13:24:28.089Z,1628947468.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:28.089Z,1628947468.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:28.091Z,1628947468.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:28.487Z,1628947468.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:29.321Z,1628947469.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00E3B,185,80,80,81,FF
2021-08-14T13:24:29.322Z,1628947469.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:29.328Z,1628947469.328 [Micromodem](INFO): Nmea in: $SNTTA,0.122778,,,,132429.75*44

2021-08-14T13:24:29.728Z,1628947469.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.080017 m, bearing: 171.533084 deg, deltaT: 4.915895 s, approachRate: -1.293759 m/s, LOS rate: 0.235091 deg/s, posRepo size: 4
2021-08-14T13:24:29.730Z,1628947469.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.080017 m,
      bearing: 171.533084 deg,
      approachRate: -1.293759 m/s,
      LOS rate: 0.235091 deg/s,
      cmd update: 0.705272 deg/s,
      cmd heading: 173.019633 deg,
      new cmd heading: 173.189476 deg.

2021-08-14T13:24:32.157Z,1628947472.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:32.518Z,1628947472.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:32.519Z,1628947472.519 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:32.519Z,1628947472.519 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:32.520Z,1628947472.520 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:32.917Z,1628947472.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00E3B,185,80,80,81,FF
2021-08-14T13:24:32.917Z,1628947472.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:32.917Z,1628947472.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:32.919Z,1628947472.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:33.326Z,1628947473.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:33.729Z,1628947473.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00E3B,185,80,80,81,FF
2021-08-14T13:24:33.730Z,1628947473.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:34.166Z,1628947474.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132434.58*50

2021-08-14T13:24:34.217Z,1628947474.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.080017 m, bearing: 171.990693 deg, deltaT: 4.351895 s, approachRate: 0.000000 m/s, LOS rate: 0.105152 deg/s, posRepo size: 4
2021-08-14T13:24:34.219Z,1628947474.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.080017 m,
      bearing: 171.990693 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.105152 deg/s,
      cmd update: 0.315455 deg/s,
      cmd heading: 176.078224 deg,
      new cmd heading: 176.406496 deg.

2021-08-14T13:24:36.597Z,1628947476.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:36.959Z,1628947476.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:36.959Z,1628947476.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:36.959Z,1628947476.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:36.960Z,1628947476.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:37.357Z,1628947477.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00E3B,185,80,80,81,FF
2021-08-14T13:24:37.357Z,1628947477.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:37.358Z,1628947477.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:37.359Z,1628947477.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:37.770Z,1628947477.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:38.174Z,1628947478.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00DD6,185,80,80,81,FF
2021-08-14T13:24:38.174Z,1628947478.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:38.613Z,1628947478.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132439.02*52

2021-08-14T13:24:38.655Z,1628947478.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.020004 m, bearing: 170.991054 deg, deltaT: 4.470682 s, approachRate: -1.355501 m/s, LOS rate: -0.223599 deg/s, posRepo size: 4
2021-08-14T13:24:38.658Z,1628947478.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.020004 m,
      bearing: 170.991054 deg,
      approachRate: -1.355501 m/s,
      LOS rate: -0.223599 deg/s,
      cmd update: -0.670796 deg/s,
      cmd heading: 177.493373 deg,
      new cmd heading: 177.625362 deg.

2021-08-14T13:24:41.019Z,1628947481.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:41.409Z,1628947481.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:41.409Z,1628947481.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:41.410Z,1628947481.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:41.411Z,1628947481.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:41.825Z,1628947481.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00DD6,185,80,80,81,FF
2021-08-14T13:24:41.825Z,1628947481.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:41.825Z,1628947481.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:41.827Z,1628947481.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:42.225Z,1628947482.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:42.622Z,1628947482.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00DD6,185,80,80,81,FF
2021-08-14T13:24:42.622Z,1628947482.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:43.069Z,1628947483.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132443.48*51

2021-08-14T13:24:43.124Z,1628947483.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.020004 m, bearing: 169.798749 deg, deltaT: 4.402329 s, approachRate: 0.000000 m/s, LOS rate: -0.270835 deg/s, posRepo size: 4
2021-08-14T13:24:43.127Z,1628947483.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.020004 m,
      bearing: 169.798749 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.270835 deg/s,
      cmd update: -0.812505 deg/s,
      cmd heading: 174.537211 deg,
      new cmd heading: 174.216059 deg.

2021-08-14T13:24:45.493Z,1628947485.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:45.849Z,1628947485.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:45.849Z,1628947485.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:45.849Z,1628947485.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:45.850Z,1628947485.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:46.254Z,1628947486.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00DD6,185,80,80,81,FF
2021-08-14T13:24:46.254Z,1628947486.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:46.254Z,1628947486.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:46.255Z,1628947486.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:46.660Z,1628947486.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:47.097Z,1628947487.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00D74,183,80,80,9B,FF
2021-08-14T13:24:47.097Z,1628947487.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:47.501Z,1628947487.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132447.91*51

2021-08-14T13:24:47.548Z,1628947487.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.139999 m, bearing: 170.225417 deg, deltaT: 4.475102 s, approachRate: -1.313938 m/s, LOS rate: 0.095343 deg/s, posRepo size: 4
2021-08-14T13:24:47.550Z,1628947487.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.139999 m,
      bearing: 170.225417 deg,
      approachRate: -1.313938 m/s,
      LOS rate: 0.095343 deg/s,
      cmd update: 0.286028 deg/s,
      cmd heading: 170.896930 deg,
      new cmd heading: 170.552713 deg.

2021-08-14T13:24:49.903Z,1628947489.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:50.293Z,1628947490.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:50.293Z,1628947490.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:50.294Z,1628947490.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:50.294Z,1628947490.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:50.693Z,1628947490.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00D74,183,80,80,9B,FF
2021-08-14T13:24:50.693Z,1628947490.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:50.693Z,1628947490.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:50.695Z,1628947490.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:51.116Z,1628947491.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:51.509Z,1628947491.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00D41,183,80,80,9B,FF
2021-08-14T13:24:51.510Z,1628947491.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:51.961Z,1628947491.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132452.35*5B

2021-08-14T13:24:52.001Z,1628947492.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.080002 m, bearing: 170.778881 deg, deltaT: 4.448402 s, approachRate: -0.687887 m/s, LOS rate: 0.124419 deg/s, posRepo size: 4
2021-08-14T13:24:52.006Z,1628947492.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.080002 m,
      bearing: 170.778881 deg,
      approachRate: -0.687887 m/s,
      LOS rate: 0.124419 deg/s,
      cmd update: 0.373256 deg/s,
      cmd heading: 172.168486 deg,
      new cmd heading: 172.291393 deg.

2021-08-14T13:24:54.358Z,1628947494.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:54.733Z,1628947494.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:54.733Z,1628947494.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:54.733Z,1628947494.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:54.734Z,1628947494.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:55.137Z,1628947495.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00D41,183,80,80,9B,FF
2021-08-14T13:24:55.137Z,1628947495.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:55.137Z,1628947495.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:55.139Z,1628947495.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:55.553Z,1628947495.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:24:55.957Z,1628947495.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00D0E,185,80,80,9B,FF
2021-08-14T13:24:55.958Z,1628947495.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:24:56.389Z,1628947496.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132456.80*51

2021-08-14T13:24:56.439Z,1628947496.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.020004 m, bearing: 170.856062 deg, deltaT: 4.404012 s, approachRate: -0.694820 m/s, LOS rate: 0.017525 deg/s, posRepo size: 4
2021-08-14T13:24:56.445Z,1628947496.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.020004 m,
      bearing: 170.856062 deg,
      approachRate: -0.694820 m/s,
      LOS rate: 0.017525 deg/s,
      cmd update: 0.052576 deg/s,
      cmd heading: 173.813810 deg,
      new cmd heading: 173.985781 deg.

2021-08-14T13:24:58.810Z,1628947498.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:24:59.200Z,1628947499.200 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:24:59.201Z,1628947499.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:24:59.201Z,1628947499.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:24:59.203Z,1628947499.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:24:59.593Z,1628947499.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00D0E,185,80,80,9B,FF
2021-08-14T13:24:59.593Z,1628947499.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:24:59.593Z,1628947499.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:24:59.595Z,1628947499.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:24:59.997Z,1628947499.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:00.398Z,1628947500.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00CDF,185,80,80,9B,FF
2021-08-14T13:25:00.398Z,1628947500.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:00.849Z,1628947500.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132501.26*5E

2021-08-14T13:25:00.885Z,1628947500.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.199997 m, bearing: 170.711508 deg, deltaT: 4.456289 s, approachRate: -0.632815 m/s, LOS rate: -0.032438 deg/s, posRepo size: 4
2021-08-14T13:25:00.886Z,1628947500.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 170.711508 deg,
      approachRate: -0.632815 m/s,
      LOS rate: -0.032438 deg/s,
      cmd update: -0.097315 deg/s,
      cmd heading: 174.048104 deg,
      new cmd heading: 174.071762 deg.

2021-08-14T13:25:03.325Z,1628947503.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:03.629Z,1628947503.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:03.629Z,1628947503.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:03.629Z,1628947503.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:03.630Z,1628947503.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:04.025Z,1628947504.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00CDF,185,80,80,9B,FF
2021-08-14T13:25:04.025Z,1628947504.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:04.025Z,1628947504.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:04.027Z,1628947504.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:04.432Z,1628947504.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:04.838Z,1628947504.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00CAB,184,80,80,9B,FF
2021-08-14T13:25:04.838Z,1628947504.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:05.297Z,1628947505.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132505.68*50

2021-08-14T13:25:05.363Z,1628947505.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.080002 m, bearing: 171.979423 deg, deltaT: 4.447030 s, approachRate: -0.701591 m/s, LOS rate: 0.285115 deg/s, posRepo size: 4
2021-08-14T13:25:05.365Z,1628947505.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.080002 m,
      bearing: 171.979423 deg,
      approachRate: -0.701591 m/s,
      LOS rate: 0.285115 deg/s,
      cmd update: 0.855345 deg/s,
      cmd heading: 173.617679 deg,
      new cmd heading: 173.568505 deg.

2021-08-14T13:25:07.679Z,1628947507.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:08.081Z,1628947508.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:08.081Z,1628947508.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:08.081Z,1628947508.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:08.082Z,1628947508.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:08.469Z,1628947508.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00CAB,184,80,80,9B,FF
2021-08-14T13:25:08.469Z,1628947508.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:08.469Z,1628947508.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:08.471Z,1628947508.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:08.888Z,1628947508.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:09.289Z,1628947509.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00C75,183,80,80,9F,FF
2021-08-14T13:25:09.290Z,1628947509.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:09.723Z,1628947509.723 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132510.13*58

2021-08-14T13:25:09.744Z,1628947509.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.840012 m, bearing: 171.184102 deg, deltaT: 4.493773 s, approachRate: -0.720996 m/s, LOS rate: -0.176983 deg/s, posRepo size: 4
2021-08-14T13:25:09.746Z,1628947509.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.840012 m,
      bearing: 171.184102 deg,
      approachRate: -0.720996 m/s,
      LOS rate: -0.176983 deg/s,
      cmd update: -0.530949 deg/s,
      cmd heading: 177.481890 deg,
      new cmd heading: 177.797248 deg.

2021-08-14T13:25:12.165Z,1628947512.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:12.509Z,1628947512.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:12.509Z,1628947512.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:12.509Z,1628947512.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:12.510Z,1628947512.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:12.913Z,1628947512.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00C75,183,80,80,9F,FF
2021-08-14T13:25:12.913Z,1628947512.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:12.913Z,1628947512.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:12.915Z,1628947512.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:13.321Z,1628947513.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:13.729Z,1628947513.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00C45,182,80,80,9E,FF
2021-08-14T13:25:13.730Z,1628947513.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:14.161Z,1628947514.161 [Micromodem](INFO): Nmea in: $SNTTA,0.100406,,,,132514.58*4E

2021-08-14T13:25:14.200Z,1628947514.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.960007 m, bearing: 172.278572 deg, deltaT: 4.372495 s, approachRate: -0.658664 m/s, LOS rate: 0.250308 deg/s, posRepo size: 4
2021-08-14T13:25:14.202Z,1628947514.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.960007 m,
      bearing: 172.278572 deg,
      approachRate: -0.658664 m/s,
      LOS rate: 0.250308 deg/s,
      cmd update: 0.750923 deg/s,
      cmd heading: 175.160337 deg,
      new cmd heading: 174.920232 deg.

2021-08-14T13:25:16.567Z,1628947516.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:16.977Z,1628947516.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:16.977Z,1628947516.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:16.978Z,1628947516.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:16.978Z,1628947516.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:17.365Z,1628947517.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00C45,182,80,80,9E,FF
2021-08-14T13:25:17.365Z,1628947517.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:17.365Z,1628947517.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:17.367Z,1628947517.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:17.777Z,1628947517.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:18.169Z,1628947518.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00C15,185,80,80,9E,FF
2021-08-14T13:25:18.170Z,1628947518.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:18.613Z,1628947518.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132519.03*50

2021-08-14T13:25:18.636Z,1628947518.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.080002 m, bearing: 171.394199 deg, deltaT: 4.489440 s, approachRate: -0.641506 m/s, LOS rate: -0.196990 deg/s, posRepo size: 4
2021-08-14T13:25:18.638Z,1628947518.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.080002 m,
      bearing: 171.394199 deg,
      approachRate: -0.641506 m/s,
      LOS rate: -0.196990 deg/s,
      cmd update: -0.590969 deg/s,
      cmd heading: 178.529235 deg,
      new cmd heading: 178.830991 deg.

2021-08-14T13:25:21.024Z,1628947521.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:21.397Z,1628947521.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:21.397Z,1628947521.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:21.397Z,1628947521.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:21.398Z,1628947521.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:21.809Z,1628947521.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00C15,185,80,80,9E,FF
2021-08-14T13:25:21.809Z,1628947521.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:21.809Z,1628947521.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:21.811Z,1628947521.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:22.209Z,1628947522.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:22.617Z,1628947522.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00BE3,184,80,80,AB,FF
2021-08-14T13:25:22.617Z,1628947522.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:23.081Z,1628947523.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.080002 m, bearing: 171.628679 deg, deltaT: 4.398074 s, approachRate: -0.682117 m/s, LOS rate: 0.053314 deg/s, posRepo size: 4
2021-08-14T13:25:23.083Z,1628947523.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.080002 m,
      bearing: 171.628679 deg,
      approachRate: -0.682117 m/s,
      LOS rate: 0.053314 deg/s,
      cmd update: 0.159943 deg/s,
      cmd heading: 175.928276 deg,
      new cmd heading: 175.664666 deg.

2021-08-14T13:25:25.493Z,1628947525.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:25.845Z,1628947525.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:25.845Z,1628947525.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:25.846Z,1628947525.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:25.847Z,1628947525.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:26.253Z,1628947526.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00BE3,184,80,80,AB,FF
2021-08-14T13:25:26.254Z,1628947526.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:26.254Z,1628947526.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:26.255Z,1628947526.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:26.652Z,1628947526.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:27.073Z,1628947527.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00BB1,185,80,80,B1,FF
2021-08-14T13:25:27.074Z,1628947527.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:27.497Z,1628947527.497 [Micromodem](INFO): Nmea in: $SNTTA,0.097284,,,,132527.91*48

2021-08-14T13:25:27.546Z,1628947527.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.080002 m, bearing: 171.890303 deg, deltaT: 4.498482 s, approachRate: -0.666892 m/s, LOS rate: 0.058158 deg/s, posRepo size: 4
2021-08-14T13:25:27.548Z,1628947527.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.080002 m,
      bearing: 171.890303 deg,
      approachRate: -0.666892 m/s,
      LOS rate: 0.058158 deg/s,
      cmd update: 0.174475 deg/s,
      cmd heading: 176.646416 deg,
      new cmd heading: 176.713606 deg.

2021-08-14T13:25:29.904Z,1628947529.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:30.293Z,1628947530.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:30.293Z,1628947530.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:30.293Z,1628947530.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:30.294Z,1628947530.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:30.689Z,1628947530.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00BB1,185,80,80,B1,FF
2021-08-14T13:25:30.689Z,1628947530.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:30.689Z,1628947530.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:30.691Z,1628947530.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:31.113Z,1628947531.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:31.509Z,1628947531.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00B7D,184,80,80,A8,FF
2021-08-14T13:25:31.510Z,1628947531.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:31.961Z,1628947531.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132532.35*5C

2021-08-14T13:25:32.019Z,1628947532.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.960007 m, bearing: 172.097722 deg, deltaT: 4.413436 s, approachRate: -0.706931 m/s, LOS rate: 0.046997 deg/s, posRepo size: 4
2021-08-14T13:25:32.025Z,1628947532.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.960007 m,
      bearing: 172.097722 deg,
      approachRate: -0.706931 m/s,
      LOS rate: 0.046997 deg/s,
      cmd update: 0.140992 deg/s,
      cmd heading: 177.417939 deg,
      new cmd heading: 177.500216 deg.

2021-08-14T13:25:34.379Z,1628947534.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:34.733Z,1628947534.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:34.733Z,1628947534.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:34.733Z,1628947534.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:34.734Z,1628947534.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:35.149Z,1628947535.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00B7D,184,80,80,A8,FF
2021-08-14T13:25:35.149Z,1628947535.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:35.149Z,1628947535.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:35.151Z,1628947535.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:35.569Z,1628947535.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:35.586Z,1628947535.586 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:25:35.977Z,1628947535.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00B4A,184,80,80,AE,FF
2021-08-14T13:25:35.978Z,1628947535.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:36.398Z,1628947536.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132536.81*57

2021-08-14T13:25:36.424Z,1628947536.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.899994 m, bearing: 171.472364 deg, deltaT: 4.493151 s, approachRate: -0.681039 m/s, LOS rate: -0.139180 deg/s, posRepo size: 4
2021-08-14T13:25:36.426Z,1628947536.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.899994 m,
      bearing: 171.472364 deg,
      approachRate: -0.681039 m/s,
      LOS rate: -0.139180 deg/s,
      cmd update: -0.417541 deg/s,
      cmd heading: 178.049430 deg,
      new cmd heading: 178.105525 deg.

2021-08-14T13:25:38.811Z,1628947538.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:39.222Z,1628947539.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:39.223Z,1628947539.223 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:39.223Z,1628947539.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:39.225Z,1628947539.225 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:39.593Z,1628947539.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00B4A,184,80,80,AE,FF
2021-08-14T13:25:39.593Z,1628947539.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:39.593Z,1628947539.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:39.595Z,1628947539.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:40.005Z,1628947540.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:40.406Z,1628947540.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,00B18,184,80,80,A5,FF
2021-08-14T13:25:40.406Z,1628947540.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:40.849Z,1628947540.849 [Micromodem](INFO): Nmea in: $SNTTA,0.088365,,,,132541.25*47

2021-08-14T13:25:40.872Z,1628947540.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.900009 m, bearing: 171.540624 deg, deltaT: 4.419748 s, approachRate: -0.678768 m/s, LOS rate: 0.015445 deg/s, posRepo size: 4
2021-08-14T13:25:40.874Z,1628947540.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.900009 m,
      bearing: 171.540624 deg,
      approachRate: -0.678768 m/s,
      LOS rate: 0.015445 deg/s,
      cmd update: 0.046334 deg/s,
      cmd heading: 176.198140 deg,
      new cmd heading: 176.026146 deg.

2021-08-14T13:25:43.332Z,1628947543.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:43.629Z,1628947543.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:43.629Z,1628947543.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:43.629Z,1628947543.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:43.630Z,1628947543.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:44.052Z,1628947544.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,00B18,184,80,80,A5,FF
2021-08-14T13:25:44.053Z,1628947544.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:44.053Z,1628947544.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:44.059Z,1628947544.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:44.448Z,1628947544.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:44.861Z,1628947544.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,038,000,00AE3,185,80,80,A0,FF
2021-08-14T13:25:44.861Z,1628947544.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:45.297Z,1628947545.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132545.72*5F

2021-08-14T13:25:45.364Z,1628947545.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.720001 m, bearing: 171.481420 deg, deltaT: 4.418822 s, approachRate: -0.719651 m/s, LOS rate: -0.013398 deg/s, posRepo size: 4
2021-08-14T13:25:45.366Z,1628947545.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.720001 m,
      bearing: 171.481420 deg,
      approachRate: -0.719651 m/s,
      LOS rate: -0.013398 deg/s,
      cmd update: -0.040194 deg/s,
      cmd heading: 176.402879 deg,
      new cmd heading: 176.425359 deg.

2021-08-14T13:25:47.703Z,1628947547.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:48.113Z,1628947548.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:48.113Z,1628947548.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:48.113Z,1628947548.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:48.114Z,1628947548.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:48.477Z,1628947548.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
038,000,00AE3,185,80,80,A0,FF
2021-08-14T13:25:48.477Z,1628947548.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:48.477Z,1628947548.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:48.479Z,1628947548.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:48.903Z,1628947548.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:49.293Z,1628947549.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00AB2,184,80,80,C0,FF
2021-08-14T13:25:49.293Z,1628947549.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:49.726Z,1628947549.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132550.14*5B

2021-08-14T13:25:49.742Z,1628947549.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.780006 m, bearing: 171.950777 deg, deltaT: 4.508532 s, approachRate: -0.652096 m/s, LOS rate: 0.104104 deg/s, posRepo size: 4
2021-08-14T13:25:49.744Z,1628947549.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.780006 m,
      bearing: 171.950777 deg,
      approachRate: -0.652096 m/s,
      LOS rate: 0.104104 deg/s,
      cmd update: 0.312312 deg/s,
      cmd heading: 176.221824 deg,
      new cmd heading: 176.207394 deg.

2021-08-14T13:25:52.169Z,1628947552.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:52.517Z,1628947552.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:52.517Z,1628947552.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:52.517Z,1628947552.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:52.518Z,1628947552.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:52.936Z,1628947552.936 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00AB2,184,80,80,C0,FF
2021-08-14T13:25:52.936Z,1628947552.936 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:52.936Z,1628947552.936 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:52.939Z,1628947552.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:53.333Z,1628947553.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:53.735Z,1628947553.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00A7E,185,80,80,D0,FF
2021-08-14T13:25:53.735Z,1628947553.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:54.165Z,1628947554.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132554.60*5C

2021-08-14T13:25:54.191Z,1628947554.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.660004 m, bearing: 171.845469 deg, deltaT: 4.413107 s, approachRate: -0.706986 m/s, LOS rate: -0.023863 deg/s, posRepo size: 4
2021-08-14T13:25:54.194Z,1628947554.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.660004 m,
      bearing: 171.845469 deg,
      approachRate: -0.706986 m/s,
      LOS rate: -0.023863 deg/s,
      cmd update: -0.071588 deg/s,
      cmd heading: 177.600161 deg,
      new cmd heading: 177.723554 deg.

2021-08-14T13:25:56.575Z,1628947556.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:25:56.993Z,1628947556.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:25:56.993Z,1628947556.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:25:56.994Z,1628947556.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:25:56.995Z,1628947556.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:25:57.365Z,1628947557.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00A7E,185,80,80,D0,FF
2021-08-14T13:25:57.366Z,1628947557.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:25:57.366Z,1628947557.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:25:57.367Z,1628947557.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:25:57.795Z,1628947557.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:25:58.177Z,1628947558.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00A4C,184,80,80,BC,FF
2021-08-14T13:25:58.178Z,1628947558.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:25:58.610Z,1628947558.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132559.03*54

2021-08-14T13:25:58.656Z,1628947558.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.659996 m, bearing: 172.279747 deg, deltaT: 4.459685 s, approachRate: -0.672695 m/s, LOS rate: 0.097378 deg/s, posRepo size: 4
2021-08-14T13:25:58.658Z,1628947558.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.659996 m,
      bearing: 172.279747 deg,
      approachRate: -0.672695 m/s,
      LOS rate: 0.097378 deg/s,
      cmd update: 0.292135 deg/s,
      cmd heading: 177.280632 deg,
      new cmd heading: 177.252285 deg.

2021-08-14T13:26:01.090Z,1628947561.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:01.405Z,1628947561.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:01.405Z,1628947561.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:01.405Z,1628947561.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:01.406Z,1628947561.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:01.821Z,1628947561.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00A4C,184,80,80,BC,FF
2021-08-14T13:26:01.821Z,1628947561.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:01.821Z,1628947561.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:01.823Z,1628947561.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:02.217Z,1628947562.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:02.626Z,1628947562.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00A1A,185,80,80,C1,FF
2021-08-14T13:26:02.626Z,1628947562.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:03.081Z,1628947563.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132603.48*57

2021-08-14T13:26:03.124Z,1628947563.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.660004 m, bearing: 172.444655 deg, deltaT: 4.399116 s, approachRate: -0.681953 m/s, LOS rate: 0.037487 deg/s, posRepo size: 4
2021-08-14T13:26:03.126Z,1628947563.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.660004 m,
      bearing: 172.444655 deg,
      approachRate: -0.681953 m/s,
      LOS rate: 0.037487 deg/s,
      cmd update: 0.112460 deg/s,
      cmd heading: 178.564932 deg,
      new cmd heading: 178.701640 deg.

2021-08-14T13:26:05.505Z,1628947565.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:05.845Z,1628947565.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:05.845Z,1628947565.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:05.845Z,1628947565.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:05.846Z,1628947565.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:06.253Z,1628947566.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00A1A,185,80,80,C1,FF
2021-08-14T13:26:06.253Z,1628947566.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:06.253Z,1628947566.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:06.255Z,1628947566.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:06.661Z,1628947566.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:07.109Z,1628947567.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,009E8,184,80,80,B4,FF
2021-08-14T13:26:07.109Z,1628947567.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:07.477Z,1628947567.477 [Micromodem](INFO): Nmea in: $SNTTA,0.414287,0.412781,,,132607.92*51

2021-08-14T13:26:07.566Z,1628947567.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.659996 m, bearing: 172.337052 deg, deltaT: 4.534114 s, approachRate: -0.661652 m/s, LOS rate: -0.023732 deg/s, posRepo size: 4
2021-08-14T13:26:07.573Z,1628947567.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.659996 m,
      bearing: 172.337052 deg,
      approachRate: -0.661652 m/s,
      LOS rate: -0.023732 deg/s,
      cmd update: -0.071195 deg/s,
      cmd heading: 179.072278 deg,
      new cmd heading: 179.116485 deg.

2021-08-14T13:26:09.912Z,1628947569.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:10.293Z,1628947570.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:10.293Z,1628947570.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:10.293Z,1628947570.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:10.294Z,1628947570.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:10.705Z,1628947570.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,009E8,184,80,80,B4,FF
2021-08-14T13:26:10.705Z,1628947570.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:10.705Z,1628947570.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:10.707Z,1628947570.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:11.136Z,1628947571.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:11.534Z,1628947571.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,009B8,184,80,80,B5,FF
2021-08-14T13:26:11.534Z,1628947571.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:11.969Z,1628947571.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132612.37*5F

2021-08-14T13:26:11.998Z,1628947571.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.779999 m, bearing: 172.318487 deg, deltaT: 4.428338 s, approachRate: -0.650356 m/s, LOS rate: -0.004192 deg/s, posRepo size: 4
2021-08-14T13:26:12.000Z,1628947572.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.779999 m,
      bearing: 172.318487 deg,
      approachRate: -0.650356 m/s,
      LOS rate: -0.004192 deg/s,
      cmd update: -0.012577 deg/s,
      cmd heading: 178.755407 deg,
      new cmd heading: 178.728345 deg.

2021-08-14T13:26:14.394Z,1628947574.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:14.757Z,1628947574.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:14.758Z,1628947574.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:14.758Z,1628947574.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:14.759Z,1628947574.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:15.161Z,1628947575.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,009B8,184,80,80,B5,FF
2021-08-14T13:26:15.161Z,1628947575.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:15.161Z,1628947575.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:15.163Z,1628947575.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:15.577Z,1628947575.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:15.973Z,1628947575.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00985,186,80,80,BD,FF
2021-08-14T13:26:15.974Z,1628947575.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:16.417Z,1628947576.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132616.83*54

2021-08-14T13:26:16.469Z,1628947576.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.720001 m, bearing: 172.023041 deg, deltaT: 4.438512 s, approachRate: -0.689420 m/s, LOS rate: -0.066564 deg/s, posRepo size: 4
2021-08-14T13:26:16.472Z,1628947576.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.720001 m,
      bearing: 172.023041 deg,
      approachRate: -0.689420 m/s,
      LOS rate: -0.066564 deg/s,
      cmd update: -0.199693 deg/s,
      cmd heading: 178.699961 deg,
      new cmd heading: 178.694668 deg.

2021-08-14T13:26:18.823Z,1628947578.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:19.236Z,1628947579.236 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:19.236Z,1628947579.236 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:19.237Z,1628947579.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:19.238Z,1628947579.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:19.609Z,1628947579.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,00985,186,80,80,BD,FF
2021-08-14T13:26:19.609Z,1628947579.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:19.609Z,1628947579.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:19.611Z,1628947579.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:20.081Z,1628947580.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:20.461Z,1628947580.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00954,186,80,80,86,FF
2021-08-14T13:26:20.461Z,1628947580.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:20.873Z,1628947580.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132621.27*5E

2021-08-14T13:26:20.896Z,1628947580.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.779999 m, bearing: 169.598720 deg, deltaT: 4.418460 s, approachRate: -0.665391 m/s, LOS rate: -0.548680 deg/s, posRepo size: 4
2021-08-14T13:26:20.898Z,1628947580.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.779999 m,
      bearing: 169.598720 deg,
      approachRate: -0.665391 m/s,
      LOS rate: -0.548680 deg/s,
      cmd update: -1.646040 deg/s,
      cmd heading: 177.811020 deg,
      new cmd heading: 177.727690 deg.

2021-08-14T13:26:23.361Z,1628947583.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:23.681Z,1628947583.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:23.681Z,1628947583.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:23.681Z,1628947583.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:23.682Z,1628947583.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:24.109Z,1628947584.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00954,186,80,80,86,FF
2021-08-14T13:26:24.109Z,1628947584.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:24.109Z,1628947584.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:24.111Z,1628947584.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:24.506Z,1628947584.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:24.901Z,1628947584.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,0091E,185,80,80,AD,FF
2021-08-14T13:26:24.901Z,1628947584.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:25.317Z,1628947585.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132625.77*5F

2021-08-14T13:26:25.401Z,1628947585.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 171.995337 deg, deltaT: 4.472178 s, approachRate: -0.724479 m/s, LOS rate: 0.535895 deg/s, posRepo size: 4
2021-08-14T13:26:25.409Z,1628947585.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.540001 m,
      bearing: 171.995337 deg,
      approachRate: -0.724479 m/s,
      LOS rate: 0.535895 deg/s,
      cmd update: 1.607685 deg/s,
      cmd heading: 170.456348 deg,
      new cmd heading: 169.743207 deg.

2021-08-14T13:26:27.765Z,1628947587.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:28.133Z,1628947588.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:28.133Z,1628947588.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:28.133Z,1628947588.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:28.134Z,1628947588.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:28.533Z,1628947588.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,0091E,185,80,80,AD,FF
2021-08-14T13:26:28.533Z,1628947588.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:28.533Z,1628947588.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:28.535Z,1628947588.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:28.941Z,1628947588.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:29.350Z,1628947589.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,008EE,184,80,80,94,FF
2021-08-14T13:26:29.350Z,1628947589.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:29.790Z,1628947589.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132630.19*53

2021-08-14T13:26:29.837Z,1628947589.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.660004 m, bearing: 172.430967 deg, deltaT: 4.471491 s, approachRate: -0.644080 m/s, LOS rate: 0.097424 deg/s, posRepo size: 4
2021-08-14T13:26:29.839Z,1628947589.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.660004 m,
      bearing: 172.430967 deg,
      approachRate: -0.644080 m/s,
      LOS rate: 0.097424 deg/s,
      cmd update: 0.292271 deg/s,
      cmd heading: 177.645212 deg,
      new cmd heading: 178.310124 deg.

2021-08-14T13:26:32.208Z,1628947592.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:32.573Z,1628947592.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:32.573Z,1628947592.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:32.573Z,1628947592.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:32.574Z,1628947592.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:32.977Z,1628947592.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,008EE,184,80,80,94,FF
2021-08-14T13:26:32.977Z,1628947592.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:32.978Z,1628947592.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:32.979Z,1628947592.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:33.385Z,1628947593.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:33.793Z,1628947593.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,008BB,183,80,80,BA,FF
2021-08-14T13:26:33.794Z,1628947593.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:34.245Z,1628947594.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132634.64*5D

2021-08-14T13:26:34.271Z,1628947594.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 172.629521 deg, deltaT: 4.388073 s, approachRate: -0.697344 m/s, LOS rate: 0.045248 deg/s, posRepo size: 4
2021-08-14T13:26:34.297Z,1628947594.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.600006 m,
      bearing: 172.629521 deg,
      approachRate: -0.697344 m/s,
      LOS rate: 0.045248 deg/s,
      cmd update: 0.135745 deg/s,
      cmd heading: 178.928952 deg,
      new cmd heading: 179.063669 deg.

2021-08-14T13:26:36.647Z,1628947596.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:37.068Z,1628947597.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:37.069Z,1628947597.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:37.069Z,1628947597.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:37.069Z,1628947597.069 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:37.429Z,1628947597.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,008BB,183,80,80,BA,FF
2021-08-14T13:26:37.429Z,1628947597.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:37.429Z,1628947597.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:37.431Z,1628947597.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:37.845Z,1628947597.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:38.229Z,1628947598.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00886,185,80,80,C6,FF
2021-08-14T13:26:38.230Z,1628947598.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:38.677Z,1628947598.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132639.09*5B

2021-08-14T13:26:38.693Z,1628947598.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.419998 m, bearing: 172.593020 deg, deltaT: 4.508390 s, approachRate: -0.705353 m/s, LOS rate: -0.008096 deg/s, posRepo size: 4
2021-08-14T13:26:38.700Z,1628947598.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.419998 m,
      bearing: 172.593020 deg,
      approachRate: -0.705353 m/s,
      LOS rate: -0.008096 deg/s,
      cmd update: -0.024288 deg/s,
      cmd heading: 179.538606 deg,
      new cmd heading: 179.591692 deg.

2021-08-14T13:26:41.113Z,1628947601.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:41.465Z,1628947601.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:41.465Z,1628947601.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:41.466Z,1628947601.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:41.467Z,1628947601.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:41.865Z,1628947601.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00886,185,80,80,C6,FF
2021-08-14T13:26:41.865Z,1628947601.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:41.865Z,1628947601.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:41.867Z,1628947601.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:42.288Z,1628947602.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:42.673Z,1628947602.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00856,183,80,80,BB,FF
2021-08-14T13:26:42.673Z,1628947602.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:43.118Z,1628947603.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132643.53*59

2021-08-14T13:26:43.145Z,1628947603.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.540001 m, bearing: 172.539348 deg, deltaT: 4.402486 s, approachRate: -0.654175 m/s, LOS rate: -0.012191 deg/s, posRepo size: 4
2021-08-14T13:26:43.147Z,1628947603.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.540001 m,
      bearing: 172.539348 deg,
      approachRate: -0.654175 m/s,
      LOS rate: -0.012191 deg/s,
      cmd update: -0.036574 deg/s,
      cmd heading: 179.431959 deg,
      new cmd heading: 179.420977 deg.

2021-08-14T13:26:45.548Z,1628947605.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:45.905Z,1628947605.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:45.905Z,1628947605.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:45.905Z,1628947605.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:45.906Z,1628947605.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:46.309Z,1628947606.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00856,183,80,80,BB,FF
2021-08-14T13:26:46.309Z,1628947606.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:46.309Z,1628947606.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:46.311Z,1628947606.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:46.725Z,1628947606.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:47.122Z,1628947607.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00823,186,80,80,86,FF
2021-08-14T13:26:47.122Z,1628947607.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:47.558Z,1628947607.558 [Micromodem](INFO): Nmea in: $SNTTA,0.081800,,,,132647.97*4A

2021-08-14T13:26:47.594Z,1628947607.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.480003 m, bearing: 172.102681 deg, deltaT: 4.519168 s, approachRate: -0.677115 m/s, LOS rate: -0.096626 deg/s, posRepo size: 4
2021-08-14T13:26:47.596Z,1628947607.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.480003 m,
      bearing: 172.102681 deg,
      approachRate: -0.677115 m/s,
      LOS rate: -0.096626 deg/s,
      cmd update: -0.289877 deg/s,
      cmd heading: 179.266700 deg,
      new cmd heading: 179.252690 deg.

2021-08-14T13:26:49.974Z,1628947609.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:50.353Z,1628947610.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:50.354Z,1628947610.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:50.354Z,1628947610.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:50.355Z,1628947610.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:50.753Z,1628947610.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00823,186,80,80,86,FF
2021-08-14T13:26:50.753Z,1628947610.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:50.754Z,1628947610.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:50.756Z,1628947610.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:51.173Z,1628947611.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:51.561Z,1628947611.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,007F0,187,80,80,97,FF
2021-08-14T13:26:51.561Z,1628947611.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:52.020Z,1628947612.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132652.42*59

2021-08-14T13:26:52.075Z,1628947612.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.420006 m, bearing: 171.217707 deg, deltaT: 4.390290 s, approachRate: -0.696992 m/s, LOS rate: -0.201575 deg/s, posRepo size: 4
2021-08-14T13:26:52.085Z,1628947612.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.420006 m,
      bearing: 171.217707 deg,
      approachRate: -0.696992 m/s,
      LOS rate: -0.201575 deg/s,
      cmd update: -0.604726 deg/s,
      cmd heading: 177.987822 deg,
      new cmd heading: 177.861113 deg.

2021-08-14T13:26:54.431Z,1628947614.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:54.797Z,1628947614.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:54.797Z,1628947614.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:54.797Z,1628947614.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:54.798Z,1628947614.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:55.217Z,1628947615.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,007F0,187,80,80,97,FF
2021-08-14T13:26:55.220Z,1628947615.220 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:55.221Z,1628947615.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:55.227Z,1628947615.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:26:55.646Z,1628947615.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:26:56.106Z,1628947616.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,007BB,183,80,80,83,FF
2021-08-14T13:26:56.106Z,1628947616.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:26:56.450Z,1628947616.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132656.89*5A

2021-08-14T13:26:56.472Z,1628947616.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 170.904324 deg, deltaT: 4.530747 s, approachRate: -0.701873 m/s, LOS rate: -0.069168 deg/s, posRepo size: 4
2021-08-14T13:26:56.474Z,1628947616.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.239998 m,
      bearing: 170.904324 deg,
      approachRate: -0.701873 m/s,
      LOS rate: -0.069168 deg/s,
      cmd update: -0.207504 deg/s,
      cmd heading: 175.248153 deg,
      new cmd heading: 175.055519 deg.

2021-08-14T13:26:58.869Z,1628947618.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:26:59.281Z,1628947619.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:26:59.281Z,1628947619.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:26:59.281Z,1628947619.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:26:59.282Z,1628947619.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:26:59.649Z,1628947619.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,007BB,183,80,80,83,FF
2021-08-14T13:26:59.650Z,1628947619.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:26:59.650Z,1628947619.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:26:59.651Z,1628947619.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:00.072Z,1628947620.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:00.466Z,1628947620.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,0078B,185,80,80,C2,FF
2021-08-14T13:27:00.466Z,1628947620.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:00.897Z,1628947620.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132701.31*5A

2021-08-14T13:27:00.931Z,1628947620.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.360001 m, bearing: 171.459318 deg, deltaT: 4.321398 s, approachRate: -0.666450 m/s, LOS rate: 0.128429 deg/s, posRepo size: 4
2021-08-14T13:27:00.933Z,1628947620.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.360001 m,
      bearing: 171.459318 deg,
      approachRate: -0.666450 m/s,
      LOS rate: 0.128429 deg/s,
      cmd update: 0.385288 deg/s,
      cmd heading: 174.349719 deg,
      new cmd heading: 174.256667 deg.

2021-08-14T13:27:03.352Z,1628947623.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:03.701Z,1628947623.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:03.701Z,1628947623.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:03.701Z,1628947623.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:03.702Z,1628947623.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:04.117Z,1628947624.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,0078B,185,80,80,C2,FF
2021-08-14T13:27:04.117Z,1628947624.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:04.117Z,1628947624.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:04.119Z,1628947624.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:04.504Z,1628947624.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:04.905Z,1628947624.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00755,183,80,80,A1,FF
2021-08-14T13:27:04.906Z,1628947624.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:05.341Z,1628947625.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132705.78*53

2021-08-14T13:27:05.400Z,1628947625.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.120003 m, bearing: 171.872941 deg, deltaT: 4.497393 s, approachRate: -0.720417 m/s, LOS rate: 0.091969 deg/s, posRepo size: 4
2021-08-14T13:27:05.402Z,1628947625.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.120003 m,
      bearing: 171.872941 deg,
      approachRate: -0.720417 m/s,
      LOS rate: 0.091969 deg/s,
      cmd update: 0.275908 deg/s,
      cmd heading: 176.082440 deg,
      new cmd heading: 176.244093 deg.

2021-08-14T13:27:07.751Z,1628947627.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:08.137Z,1628947628.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:08.137Z,1628947628.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:08.137Z,1628947628.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:08.138Z,1628947628.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:08.549Z,1628947628.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00755,183,80,80,A1,FF
2021-08-14T13:27:08.550Z,1628947628.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:08.550Z,1628947628.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:08.551Z,1628947628.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:08.953Z,1628947628.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:09.361Z,1628947629.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00722,184,80,80,49,FF
2021-08-14T13:27:09.362Z,1628947629.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:09.797Z,1628947629.797 [Micromodem](INFO): Nmea in: $SNTTA,0.069298,,,,132710.21*49

2021-08-14T13:27:09.841Z,1628947629.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 171.289123 deg, deltaT: 4.486927 s, approachRate: -0.681981 m/s, LOS rate: -0.130115 deg/s, posRepo size: 4
2021-08-14T13:27:09.843Z,1628947629.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.060005 m,
      bearing: 171.289123 deg,
      approachRate: -0.681981 m/s,
      LOS rate: -0.130115 deg/s,
      cmd update: -0.390346 deg/s,
      cmd heading: 177.315098 deg,
      new cmd heading: 177.423552 deg.

2021-08-14T13:27:12.227Z,1628947632.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:12.586Z,1628947632.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:12.586Z,1628947632.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:12.586Z,1628947632.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:12.587Z,1628947632.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:12.985Z,1628947632.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00722,184,80,80,49,FF
2021-08-14T13:27:12.985Z,1628947632.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:12.986Z,1628947632.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:12.987Z,1628947632.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:13.407Z,1628947633.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:13.797Z,1628947633.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,006F0,183,80,80,A1,FF
2021-08-14T13:27:13.798Z,1628947633.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:14.221Z,1628947634.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132714.67*5D

2021-08-14T13:27:14.263Z,1628947634.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 172.087805 deg, deltaT: 4.371524 s, approachRate: -0.686261 m/s, LOS rate: 0.182701 deg/s, posRepo size: 4
2021-08-14T13:27:14.265Z,1628947634.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 172.087805 deg,
      approachRate: -0.686261 m/s,
      LOS rate: 0.182701 deg/s,
      cmd update: 0.548103 deg/s,
      cmd heading: 175.610481 deg,
      new cmd heading: 175.435340 deg.

2021-08-14T13:27:16.675Z,1628947636.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:17.038Z,1628947637.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:17.038Z,1628947637.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:17.039Z,1628947637.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:17.041Z,1628947637.041 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:17.453Z,1628947637.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,006F0,183,80,80,A1,FF
2021-08-14T13:27:17.453Z,1628947637.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:17.453Z,1628947637.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:17.455Z,1628947637.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:17.854Z,1628947637.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:18.245Z,1628947638.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,006C1,185,80,80,98,FF
2021-08-14T13:27:18.245Z,1628947638.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:18.661Z,1628947638.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132719.12*52

2021-08-14T13:27:18.695Z,1628947638.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.239998 m, bearing: 171.608530 deg, deltaT: 4.478071 s, approachRate: -0.629735 m/s, LOS rate: -0.107027 deg/s, posRepo size: 4
2021-08-14T13:27:18.698Z,1628947638.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.239998 m,
      bearing: 171.608530 deg,
      approachRate: -0.629735 m/s,
      LOS rate: -0.107027 deg/s,
      cmd update: -0.321081 deg/s,
      cmd heading: 178.071325 deg,
      new cmd heading: 178.285649 deg.

2021-08-14T13:27:21.117Z,1628947641.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:21.481Z,1628947641.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:21.482Z,1628947641.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:21.482Z,1628947641.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:21.483Z,1628947641.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:21.881Z,1628947641.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,006C1,185,80,80,98,FF
2021-08-14T13:27:21.882Z,1628947641.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:21.882Z,1628947641.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:21.883Z,1628947641.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:22.304Z,1628947642.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:22.685Z,1628947642.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,0068C,184,80,80,AA,FF
2021-08-14T13:27:22.685Z,1628947642.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:23.141Z,1628947643.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132723.55*58

2021-08-14T13:27:23.221Z,1628947643.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.059998 m, bearing: 172.448821 deg, deltaT: 4.386017 s, approachRate: -0.725031 m/s, LOS rate: 0.191584 deg/s, posRepo size: 4
2021-08-14T13:27:23.240Z,1628947643.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.059998 m,
      bearing: 172.448821 deg,
      approachRate: -0.725031 m/s,
      LOS rate: 0.191584 deg/s,
      cmd update: 0.574752 deg/s,
      cmd heading: 176.659217 deg,
      new cmd heading: 176.508486 deg.

2021-08-14T13:27:25.567Z,1628947645.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:25.913Z,1628947645.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:25.913Z,1628947645.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:25.913Z,1628947645.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:25.914Z,1628947645.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:26.330Z,1628947646.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,0068C,184,80,80,AA,FF
2021-08-14T13:27:26.330Z,1628947646.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:26.330Z,1628947646.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:26.332Z,1628947646.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:26.725Z,1628947646.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:27.145Z,1628947647.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00657,185,80,80,A9,FF
2021-08-14T13:27:27.146Z,1628947647.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:27.158Z,1628947647.158 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:27:27.561Z,1628947647.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132727.99*5C

2021-08-14T13:27:27.609Z,1628947647.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.880005 m, bearing: 171.792877 deg, deltaT: 4.532479 s, approachRate: -0.701601 m/s, LOS rate: -0.144721 deg/s, posRepo size: 4
2021-08-14T13:27:27.611Z,1628947647.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.880005 m,
      bearing: 171.792877 deg,
      approachRate: -0.701601 m/s,
      LOS rate: -0.144721 deg/s,
      cmd update: -0.434162 deg/s,
      cmd heading: 179.228457 deg,
      new cmd heading: 179.478969 deg.

2021-08-14T13:27:29.977Z,1628947649.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:30.358Z,1628947650.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:30.358Z,1628947650.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:30.358Z,1628947650.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:30.359Z,1628947650.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:30.770Z,1628947650.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00657,185,80,80,A9,FF
2021-08-14T13:27:30.770Z,1628947650.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:30.770Z,1628947650.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:30.773Z,1628947650.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:31.200Z,1628947651.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:31.569Z,1628947651.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00629,184,80,80,A0,FF
2021-08-14T13:27:31.569Z,1628947651.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:31.573Z,1628947651.573 [Micromodem](INFO): Nmea in: $SNTTA,0.155163,0.155163,,,132732.43*5F

2021-08-14T13:27:32.082Z,1628947652.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.119999 m, bearing: 173.511831 deg, deltaT: 4.413504 s, approachRate: -0.625355 m/s, LOS rate: 0.389476 deg/s, posRepo size: 4
2021-08-14T13:27:32.089Z,1628947652.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.119999 m,
      bearing: 173.511831 deg,
      approachRate: -0.625355 m/s,
      LOS rate: 0.389476 deg/s,
      cmd update: 1.168428 deg/s,
      cmd heading: 177.288610 deg,
      new cmd heading: 177.096722 deg.

2021-08-14T13:27:32.397Z,1628947652.397 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:27:34.472Z,1628947654.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:34.813Z,1628947654.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:34.813Z,1628947654.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:34.814Z,1628947654.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:34.815Z,1628947654.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:35.242Z,1628947655.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00629,184,80,80,A0,FF
2021-08-14T13:27:35.242Z,1628947655.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:35.243Z,1628947655.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:35.245Z,1628947655.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:35.630Z,1628947655.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:36.022Z,1628947656.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,005F4,184,80,80,B6,FF
2021-08-14T13:27:36.022Z,1628947656.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:36.453Z,1628947656.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132736.91*54

2021-08-14T13:27:36.491Z,1628947656.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 172.114306 deg, deltaT: 4.480200 s, approachRate: -0.709791 m/s, LOS rate: -0.311934 deg/s, posRepo size: 4
2021-08-14T13:27:36.497Z,1628947656.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 172.114306 deg,
      approachRate: -0.709791 m/s,
      LOS rate: -0.311934 deg/s,
      cmd update: -0.935801 deg/s,
      cmd heading: 182.523318 deg,
      new cmd heading: 182.947782 deg.

2021-08-14T13:27:38.081Z,1628947658.081 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:27:38.892Z,1628947658.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:39.277Z,1628947659.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:39.278Z,1628947659.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:39.278Z,1628947659.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:39.279Z,1628947659.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:39.665Z,1628947659.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,005F4,184,80,80,B6,FF
2021-08-14T13:27:39.665Z,1628947659.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:39.665Z,1628947659.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:39.667Z,1628947659.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:40.083Z,1628947660.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:40.477Z,1628947660.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,005C2,186,80,80,78,FF
2021-08-14T13:27:40.477Z,1628947660.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:40.913Z,1628947660.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132741.33*5C

2021-08-14T13:27:40.939Z,1628947660.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 170.510905 deg, deltaT: 4.365349 s, approachRate: -0.687229 m/s, LOS rate: -0.367302 deg/s, posRepo size: 4
2021-08-14T13:27:40.961Z,1628947660.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 170.510905 deg,
      approachRate: -0.687229 m/s,
      LOS rate: -0.367302 deg/s,
      cmd update: -1.101905 deg/s,
      cmd heading: 178.430482 deg,
      new cmd heading: 178.015252 deg.

2021-08-14T13:27:43.390Z,1628947663.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:43.705Z,1628947663.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:43.705Z,1628947663.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:43.706Z,1628947663.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:43.706Z,1628947663.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:44.121Z,1628947664.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,005C2,186,80,80,78,FF
2021-08-14T13:27:44.121Z,1628947664.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:44.121Z,1628947664.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:44.122Z,1628947664.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:44.521Z,1628947664.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:44.918Z,1628947664.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00592,184,80,80,79,FF
2021-08-14T13:27:44.918Z,1628947664.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:45.379Z,1628947665.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.060001 m, bearing: 173.624775 deg, deltaT: 4.440537 s, approachRate: -0.648570 m/s, LOS rate: 0.701237 deg/s, posRepo size: 4
2021-08-14T13:27:45.397Z,1628947665.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.060001 m,
      bearing: 173.624775 deg,
      approachRate: -0.648570 m/s,
      LOS rate: 0.701237 deg/s,
      cmd update: 2.103711 deg/s,
      cmd heading: 173.537489 deg,
      new cmd heading: 173.047982 deg.

2021-08-14T13:27:47.419Z,1628947667.419 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:27:47.441Z,1628947667.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:47.741Z,1628947667.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:47.741Z,1628947667.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:47.741Z,1628947667.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:47.742Z,1628947667.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:48.147Z,1628947668.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00592,184,80,80,79,FF
2021-08-14T13:27:48.147Z,1628947668.147 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:48.147Z,1628947668.147 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:48.149Z,1628947668.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:48.552Z,1628947668.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:48.949Z,1628947668.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00561,185,80,80,7E,FF
2021-08-14T13:27:48.950Z,1628947668.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:49.393Z,1628947669.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132749.81*5D

2021-08-14T13:27:49.479Z,1628947669.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 173.071570 deg, deltaT: 4.031658 s, approachRate: -0.729229 m/s, LOS rate: -0.137215 deg/s, posRepo size: 4
2021-08-14T13:27:49.486Z,1628947669.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.119999 m,
      bearing: 173.071570 deg,
      approachRate: -0.729229 m/s,
      LOS rate: -0.137215 deg/s,
      cmd update: -0.411645 deg/s,
      cmd heading: 182.019041 deg,
      new cmd heading: 183.097547 deg.

2021-08-14T13:27:51.495Z,1628947671.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:51.782Z,1628947671.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:51.782Z,1628947671.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:51.782Z,1628947671.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:51.783Z,1628947671.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:52.177Z,1628947672.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00561,185,80,80,7E,FF
2021-08-14T13:27:52.177Z,1628947672.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:52.178Z,1628947672.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:52.179Z,1628947672.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:52.209Z,1628947672.209 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:27:52.585Z,1628947672.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:52.985Z,1628947672.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0052F,186,80,80,B0,FF
2021-08-14T13:27:52.986Z,1628947672.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:53.433Z,1628947673.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132753.84*53

2021-08-14T13:27:53.494Z,1628947673.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 171.666682 deg, deltaT: 4.103766 s, approachRate: -0.731036 m/s, LOS rate: -0.342341 deg/s, posRepo size: 4
2021-08-14T13:27:53.514Z,1628947673.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.119999 m,
      bearing: 171.666682 deg,
      approachRate: -0.731036 m/s,
      LOS rate: -0.342341 deg/s,
      cmd update: -1.027023 deg/s,
      cmd heading: 180.338658 deg,
      new cmd heading: 180.155168 deg.

2021-08-14T13:27:55.867Z,1628947675.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:27:56.221Z,1628947676.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:27:56.221Z,1628947676.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:27:56.221Z,1628947676.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:27:56.222Z,1628947676.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:27:56.633Z,1628947676.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0052F,186,80,80,B0,FF
2021-08-14T13:27:56.634Z,1628947676.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:27:56.634Z,1628947676.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:27:56.635Z,1628947676.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:27:57.083Z,1628947677.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:27:57.109Z,1628947677.109 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T13:27:57.446Z,1628947677.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06B,000,00502,186,80,80,8F,FF
2021-08-14T13:27:57.446Z,1628947677.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:27:57.881Z,1628947677.881 [Micromodem](INFO): Nmea in: $SNTTA,0.047658,,,,132758.30*41

2021-08-14T13:27:57.904Z,1628947677.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 172.372582 deg, deltaT: 4.412034 s, approachRate: -0.611963 m/s, LOS rate: 0.159994 deg/s, posRepo size: 4
2021-08-14T13:27:57.905Z,1628947677.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.42 m.
2021-08-14T13:27:57.907Z,1628947677.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.419998 m,
      bearing: 172.372582 deg,
      approachRate: -0.611963 m/s,
      LOS rate: 0.159994 deg/s,
      cmd update: 0.479983 deg/s,
      cmd heading: 175.785234 deg,
      new cmd heading: 175.352419 deg.

2021-08-14T13:27:58.286Z,1628947678.286 [PowerOnly](INFO): Powering up loadControl
2021-08-14T13:27:58.343Z,1628947678.343 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:27:58.345Z,1628947678.345 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:27:58.346Z,1628947678.346 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:27:58.347Z,1628947678.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:27:58.347Z,1628947678.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:27:58.347Z,1628947678.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:27:58.709Z,1628947678.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:27:58.709Z,1628947678.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:27:58.710Z,1628947678.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:27:58.710Z,1628947678.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:28:00.290Z,1628947680.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:00.673Z,1628947680.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:00.674Z,1628947680.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:00.674Z,1628947680.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:00.675Z,1628947680.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:01.105Z,1628947681.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06B,000,00502,186,80,80,8F,FF
2021-08-14T13:28:01.105Z,1628947681.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:01.105Z,1628947681.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:01.107Z,1628947681.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:01.480Z,1628947681.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:01.873Z,1628947681.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,004CD,184,80,80,73,FF
2021-08-14T13:28:01.873Z,1628947681.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:01.926Z,1628947681.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:02.295Z,1628947682.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132802.77*54

2021-08-14T13:28:02.336Z,1628947682.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 174.813556 deg, deltaT: 4.441199 s, approachRate: -0.716023 m/s, LOS rate: 0.549620 deg/s, posRepo size: 4
2021-08-14T13:28:02.336Z,1628947682.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.24 m.
2021-08-14T13:28:02.338Z,1628947682.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.239998 m,
      bearing: 174.813556 deg,
      approachRate: -0.716023 m/s,
      LOS rate: 0.549620 deg/s,
      cmd update: 1.648861 deg/s,
      cmd heading: 177.914810 deg,
      new cmd heading: 178.114795 deg.

2021-08-14T13:28:04.728Z,1628947684.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:05.113Z,1628947685.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:05.113Z,1628947685.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:05.113Z,1628947685.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:05.114Z,1628947685.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:05.509Z,1628947685.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,004CD,184,80,80,73,FF
2021-08-14T13:28:05.509Z,1628947685.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:05.509Z,1628947685.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:05.511Z,1628947685.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:05.917Z,1628947685.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:06.317Z,1628947686.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,0049C,184,80,80,53,FF
2021-08-14T13:28:06.317Z,1628947686.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:06.375Z,1628947686.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:06.762Z,1628947686.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132807.17*57

2021-08-14T13:28:06.813Z,1628947686.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 175.637877 deg, deltaT: 4.457283 s, approachRate: -0.659593 m/s, LOS rate: 0.184938 deg/s, posRepo size: 4
2021-08-14T13:28:06.813Z,1628947686.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.30 m.
2021-08-14T13:28:06.816Z,1628947686.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.300003 m,
      bearing: 175.637877 deg,
      approachRate: -0.659593 m/s,
      LOS rate: 0.184938 deg/s,
      cmd update: 0.554815 deg/s,
      cmd heading: 185.257313 deg,
      new cmd heading: 185.951037 deg.

2021-08-14T13:28:09.254Z,1628947689.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:09.545Z,1628947689.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:09.545Z,1628947689.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:09.545Z,1628947689.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:09.546Z,1628947689.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:09.953Z,1628947689.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,0049C,184,80,80,53,FF
2021-08-14T13:28:09.953Z,1628947689.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:09.953Z,1628947689.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:09.955Z,1628947689.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:10.357Z,1628947690.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:10.770Z,1628947690.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,0046F,186,80,80,94,FF
2021-08-14T13:28:10.771Z,1628947690.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:10.831Z,1628947690.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:11.245Z,1628947691.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132811.62*52

2021-08-14T13:28:11.310Z,1628947691.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.600000 m, bearing: 172.829468 deg, deltaT: 4.447178 s, approachRate: -0.607127 m/s, LOS rate: -0.631504 deg/s, posRepo size: 4
2021-08-14T13:28:11.311Z,1628947691.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.60 m.
2021-08-14T13:28:11.311Z,1628947691.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.60 m.
2021-08-14T13:28:11.311Z,1628947691.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T13:28:11.315Z,1628947691.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.600000 m,
      bearing: 172.829468 deg,
      approachRate: -0.607127 m/s,
      LOS rate: -0.631504 deg/s,
      cmd update: -1.894511 deg/s,
      cmd heading: 187.724664 deg,
      new cmd heading: 187.997190 deg.

2021-08-14T13:28:12.399Z,1628947692.399 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T13:28:13.619Z,1628947693.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:13.993Z,1628947693.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:13.993Z,1628947693.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:13.993Z,1628947693.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:13.994Z,1628947693.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:14.397Z,1628947694.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,0046F,186,80,80,94,FF
2021-08-14T13:28:14.397Z,1628947694.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:14.398Z,1628947694.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:14.399Z,1628947694.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:14.812Z,1628947694.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:15.646Z,1628947695.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132816.06*57

2021-08-14T13:28:16.101Z,1628947696.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,03619,187,80,80,8D,FF
2021-08-14T13:28:16.102Z,1628947696.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:16.133Z,1628947696.133 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:16.448Z,1628947696.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 793.440063 m, bearing: 173.084589 deg, deltaT: 5.302528 s, approachRate: 143.863464 m/s, LOS rate: 0.048113 deg/s, posRepo size: 4
2021-08-14T13:28:16.450Z,1628947696.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 793.440063 m,
      bearing: 173.084589 deg,
      approachRate: 143.863464 m/s,
      LOS rate: 0.048113 deg/s,
      cmd update: 0.144339 deg/s,
      cmd heading: 177.663000 deg,
      new cmd heading: 177.061544 deg.

2021-08-14T13:28:16.857Z,1628947696.857 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:28:16.857Z,1628947696.857 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:28:16.858Z,1628947696.858 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:28:16.858Z,1628947696.858 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:28:16.858Z,1628947696.858 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:28:16.859Z,1628947696.859 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:28:17.325Z,1628947697.325 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:28:17.325Z,1628947697.325 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:28:17.325Z,1628947697.325 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:28:17.326Z,1628947697.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:28:18.875Z,1628947698.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:19.280Z,1628947699.280 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:19.280Z,1628947699.280 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:19.281Z,1628947699.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:19.282Z,1628947699.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:19.654Z,1628947699.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,03619,187,80,80,8D,FF
2021-08-14T13:28:19.654Z,1628947699.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:19.654Z,1628947699.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:19.656Z,1628947699.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:20.077Z,1628947700.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:20.457Z,1628947700.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00407,184,80,80,8C,FF
2021-08-14T13:28:20.457Z,1628947700.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:20.905Z,1628947700.905 [Micromodem](INFO): Nmea in: $SNTTA,0.029989,,,,132821.32*49

2021-08-14T13:28:20.922Z,1628947700.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 174.244191 deg, deltaT: 4.344037 s, approachRate: -177.042709 m/s, LOS rate: 0.266941 deg/s, posRepo size: 4
2021-08-14T13:28:20.924Z,1628947700.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.359999 m,
      bearing: 174.244191 deg,
      approachRate: -177.042709 m/s,
      LOS rate: 0.266941 deg/s,
      cmd update: 0.800823 deg/s,
      cmd heading: 178.290053 deg,
      new cmd heading: 178.354633 deg.

2021-08-14T13:28:21.361Z,1628947701.361 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:28:21.361Z,1628947701.361 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:28:21.361Z,1628947701.361 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:28:21.362Z,1628947701.362 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:28:21.362Z,1628947701.362 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:28:21.362Z,1628947701.362 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:28:21.701Z,1628947701.701 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:28:21.702Z,1628947701.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:28:21.702Z,1628947701.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:28:21.702Z,1628947701.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:28:22.155Z,1628947702.155 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T13:28:23.358Z,1628947703.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:23.697Z,1628947703.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:23.697Z,1628947703.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:23.697Z,1628947703.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:23.698Z,1628947703.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:24.120Z,1628947704.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00407,184,80,80,8C,FF
2021-08-14T13:28:24.121Z,1628947704.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:24.121Z,1628947704.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:24.122Z,1628947704.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:24.500Z,1628947704.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:24.906Z,1628947704.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,003D4,185,80,80,92,FF
2021-08-14T13:28:24.906Z,1628947704.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:24.931Z,1628947704.931 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:25.330Z,1628947705.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132825.78*5E

2021-08-14T13:28:25.405Z,1628947705.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 175.096544 deg, deltaT: 4.453718 s, approachRate: -0.687066 m/s, LOS rate: 0.191380 deg/s, posRepo size: 4
2021-08-14T13:28:25.407Z,1628947705.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 175.096544 deg,
      approachRate: -0.687066 m/s,
      LOS rate: 0.191380 deg/s,
      cmd update: 0.574140 deg/s,
      cmd heading: 181.856425 deg,
      new cmd heading: 182.234785 deg.

2021-08-14T13:28:27.750Z,1628947707.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:28.142Z,1628947708.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:28.142Z,1628947708.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:28.142Z,1628947708.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:28.143Z,1628947708.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:28.537Z,1628947708.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,003D4,185,80,80,92,FF
2021-08-14T13:28:28.537Z,1628947708.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:28.537Z,1628947708.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:28.539Z,1628947708.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:28.949Z,1628947708.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:29.345Z,1628947709.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,003AF,186,80,80,77,FF
2021-08-14T13:28:29.345Z,1628947709.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:29.438Z,1628947709.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:29.793Z,1628947709.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132830.20*57

2021-08-14T13:28:29.816Z,1628947709.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 171.651574 deg, deltaT: 4.507384 s, approachRate: -0.492525 m/s, LOS rate: -0.764295 deg/s, posRepo size: 4
2021-08-14T13:28:29.818Z,1628947709.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.079998 m,
      bearing: 171.651574 deg,
      approachRate: -0.492525 m/s,
      LOS rate: -0.764295 deg/s,
      cmd update: -2.292884 deg/s,
      cmd heading: 184.444331 deg,
      new cmd heading: 184.662691 deg.

2021-08-14T13:28:32.210Z,1628947712.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:32.577Z,1628947712.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:32.577Z,1628947712.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:32.577Z,1628947712.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:32.578Z,1628947712.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:32.989Z,1628947712.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,003AF,186,80,80,77,FF
2021-08-14T13:28:32.989Z,1628947712.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:32.989Z,1628947712.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:32.991Z,1628947712.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:33.388Z,1628947713.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:33.797Z,1628947713.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00380,186,80,80,9D,FF
2021-08-14T13:28:33.797Z,1628947713.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:33.818Z,1628947713.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:34.241Z,1628947714.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132834.65*52

2021-08-14T13:28:34.269Z,1628947714.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 173.117879 deg, deltaT: 4.379294 s, approachRate: -0.643939 m/s, LOS rate: 0.334827 deg/s, posRepo size: 4
2021-08-14T13:28:34.271Z,1628947714.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.260000 m,
      bearing: 173.117879 deg,
      approachRate: -0.643939 m/s,
      LOS rate: 0.334827 deg/s,
      cmd update: 1.004480 deg/s,
      cmd heading: 174.403171 deg,
      new cmd heading: 173.362578 deg.

2021-08-14T13:28:36.646Z,1628947716.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:37.021Z,1628947717.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:37.021Z,1628947717.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:37.021Z,1628947717.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:37.022Z,1628947717.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:37.425Z,1628947717.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00380,186,80,80,9D,FF
2021-08-14T13:28:37.425Z,1628947717.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:37.425Z,1628947717.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:37.427Z,1628947717.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:37.832Z,1628947717.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:38.229Z,1628947718.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00347,183,80,80,7C,FF
2021-08-14T13:28:38.230Z,1628947718.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:38.284Z,1628947718.284 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:38.669Z,1628947718.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132839.09*55

2021-08-14T13:28:38.709Z,1628947718.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 174.094460 deg, deltaT: 4.466759 s, approachRate: -0.765656 m/s, LOS rate: 0.218633 deg/s, posRepo size: 4
2021-08-14T13:28:38.711Z,1628947718.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 174.094460 deg,
      approachRate: -0.765656 m/s,
      LOS rate: 0.218633 deg/s,
      cmd update: 0.655899 deg/s,
      cmd heading: 178.865639 deg,
      new cmd heading: 179.319145 deg.

2021-08-14T13:28:41.121Z,1628947721.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:41.465Z,1628947721.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:41.465Z,1628947721.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:41.465Z,1628947721.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:41.466Z,1628947721.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:41.879Z,1628947721.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00347,183,80,80,7C,FF
2021-08-14T13:28:41.879Z,1628947721.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:41.879Z,1628947721.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:41.881Z,1628947721.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:42.277Z,1628947722.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:42.689Z,1628947722.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,00317,186,80,80,C9,FF
2021-08-14T13:28:42.690Z,1628947722.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:42.714Z,1628947722.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:43.142Z,1628947723.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 172.195339 deg, deltaT: 4.429328 s, approachRate: -0.650212 m/s, LOS rate: -0.428760 deg/s, posRepo size: 4
2021-08-14T13:28:43.160Z,1628947723.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 172.195339 deg,
      approachRate: -0.650212 m/s,
      LOS rate: -0.428760 deg/s,
      cmd update: -1.286281 deg/s,
      cmd heading: 181.786670 deg,
      new cmd heading: 182.069607 deg.

2021-08-14T13:28:45.220Z,1628947725.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:45.513Z,1628947725.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:45.513Z,1628947725.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:45.513Z,1628947725.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:45.514Z,1628947725.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:45.917Z,1628947725.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,00317,186,80,80,C9,FF
2021-08-14T13:28:45.917Z,1628947725.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:45.917Z,1628947725.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:45.919Z,1628947725.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:46.321Z,1628947726.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:46.737Z,1628947726.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,002F2,187,80,80,A8,FF
2021-08-14T13:28:46.738Z,1628947726.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:46.762Z,1628947726.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:47.188Z,1628947727.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132847.58*58

2021-08-14T13:28:47.262Z,1628947727.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 172.139086 deg, deltaT: 4.049033 s, approachRate: -0.548279 m/s, LOS rate: -0.013893 deg/s, posRepo size: 4
2021-08-14T13:28:47.265Z,1628947727.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 172.139086 deg,
      approachRate: -0.548279 m/s,
      LOS rate: -0.013893 deg/s,
      cmd update: -0.041679 deg/s,
      cmd heading: 176.582503 deg,
      new cmd heading: 175.931776 deg.

2021-08-14T13:28:49.583Z,1628947729.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:49.963Z,1628947729.963 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:49.963Z,1628947729.963 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:49.963Z,1628947729.963 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:49.964Z,1628947729.964 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:50.354Z,1628947730.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,002F2,187,80,80,A8,FF
2021-08-14T13:28:50.354Z,1628947730.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:50.354Z,1628947730.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:50.356Z,1628947730.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:50.783Z,1628947730.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:51.161Z,1628947731.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,002CF,184,80,80,95,FF
2021-08-14T13:28:51.162Z,1628947731.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:51.278Z,1628947731.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:51.602Z,1628947731.602 [Micromodem](INFO): Nmea in: $SNTTA,0.024409,,,,132852.02*46

2021-08-14T13:28:51.639Z,1628947731.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 173.438037 deg, deltaT: 4.514952 s, approachRate: -0.465122 m/s, LOS rate: 0.287700 deg/s, posRepo size: 4
2021-08-14T13:28:51.641Z,1628947731.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 173.438037 deg,
      approachRate: -0.465122 m/s,
      LOS rate: 0.287700 deg/s,
      cmd update: 0.863100 deg/s,
      cmd heading: 176.394358 deg,
      new cmd heading: 176.378990 deg.

2021-08-14T13:28:54.075Z,1628947734.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:54.393Z,1628947734.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:54.393Z,1628947734.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:54.393Z,1628947734.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:54.394Z,1628947734.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:54.817Z,1628947734.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,002CF,184,80,80,95,FF
2021-08-14T13:28:54.818Z,1628947734.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:54.818Z,1628947734.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:54.821Z,1628947734.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:55.239Z,1628947735.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:28:55.610Z,1628947735.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,002BE,186,80,80,86,FF
2021-08-14T13:28:55.611Z,1628947735.611 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:28:55.663Z,1628947735.663 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:28:56.041Z,1628947736.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132856.49*58

2021-08-14T13:28:56.094Z,1628947736.094 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T13:28:56.094Z,1628947736.094 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T13:28:56.095Z,1628947736.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T13:28:56.095Z,1628947736.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T13:28:56.095Z,1628947736.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T13:28:56.096Z,1628947736.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-08-14T13:28:56.096Z,1628947736.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T13:28:56.096Z,1628947736.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T13:28:56.096Z,1628947736.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T13:28:56.099Z,1628947736.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 169.502646 deg, deltaT: 4.384892 s, approachRate: -0.232617 m/s, LOS rate: -0.897489 deg/s, posRepo size: 4
2021-08-14T13:28:56.113Z,1628947736.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 169.502646 deg,
      approachRate: -0.232617 m/s,
      LOS rate: -0.897489 deg/s,
      cmd update: -2.692466 deg/s,
      cmd heading: 180.178889 deg,
      new cmd heading: 180.561553 deg.

2021-08-14T13:28:56.453Z,1628947736.453 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T132856: (41.552319, -70.708603)
2021-08-14T13:28:56.453Z,1628947736.453 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T13:28:56.454Z,1628947736.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T13:28:56.454Z,1628947736.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T13:28:56.454Z,1628947736.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T13:28:56.454Z,1628947736.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T13:28:56.454Z,1628947736.454 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T13:28:56.454Z,1628947736.454 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T13:28:56.454Z,1628947736.454 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T13:28:56.869Z,1628947736.869 [UniversalFixResidualReporter](INFO): Fix residual: 17.3 %DT, over the last 1068.3 m. Residual distance 184.5 m at bearing 61.3 degrees. Fix at (41.5513, -70.7068) with 188.6 m made good.
2021-08-14T13:28:58.470Z,1628947738.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:28:58.854Z,1628947738.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:28:58.854Z,1628947738.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:28:58.854Z,1628947738.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:28:58.855Z,1628947738.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:28:59.273Z,1628947739.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,002BE,186,80,80,86,FF
2021-08-14T13:28:59.273Z,1628947739.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:28:59.273Z,1628947739.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:28:59.275Z,1628947739.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:28:59.658Z,1628947739.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:00.065Z,1628947740.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,002CC,187,80,80,B0,FF
2021-08-14T13:29:00.066Z,1628947740.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:00.132Z,1628947740.132 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:00.480Z,1628947740.480 [Micromodem](INFO): Nmea in: $SNTTA,0.032676,,,,132900.94*42

2021-08-14T13:29:00.533Z,1628947740.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 184.679477 deg, deltaT: 4.469687 s, approachRate: 0.187933 m/s, LOS rate: 3.395502 deg/s, posRepo size: 4
2021-08-14T13:29:00.535Z,1628947740.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 184.679477 deg,
      approachRate: 0.187933 m/s,
      LOS rate: 3.395502 deg/s,
      cmd update: 10.186506 deg/s,
      cmd heading: 168.163786 deg,
      new cmd heading: 167.058147 deg.

2021-08-14T13:29:02.917Z,1628947742.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:03.285Z,1628947743.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:03.285Z,1628947743.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:03.285Z,1628947743.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:03.286Z,1628947743.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:03.685Z,1628947743.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,002CC,187,80,80,B0,FF
2021-08-14T13:29:03.685Z,1628947743.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:03.686Z,1628947743.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:03.687Z,1628947743.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:04.105Z,1628947744.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:04.485Z,1628947744.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00317,186,80,80,6E,FF
2021-08-14T13:29:04.486Z,1628947744.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:04.553Z,1628947744.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:04.941Z,1628947744.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132905.35*54

2021-08-14T13:29:04.963Z,1628947744.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 178.843176 deg, deltaT: 4.421734 s, approachRate: 1.017700 m/s, LOS rate: -1.319912 deg/s, posRepo size: 4
2021-08-14T13:29:04.965Z,1628947744.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 178.843176 deg,
      approachRate: 1.017700 m/s,
      LOS rate: -1.319912 deg/s,
      cmd update: -3.959737 deg/s,
      cmd heading: 213.207180 deg,
      new cmd heading: 217.521318 deg.

2021-08-14T13:29:07.404Z,1628947747.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:07.721Z,1628947747.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:07.721Z,1628947747.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:07.721Z,1628947747.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:07.722Z,1628947747.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:08.129Z,1628947748.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00317,186,80,80,6E,FF
2021-08-14T13:29:08.130Z,1628947748.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:08.130Z,1628947748.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:08.131Z,1628947748.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:08.533Z,1628947748.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:08.931Z,1628947748.931 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,0031A,186,80,80,6A,FF
2021-08-14T13:29:08.931Z,1628947748.931 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:08.951Z,1628947748.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:09.390Z,1628947749.390 [Micromodem](INFO): Nmea in: $SNTTA,0.033373,,,,132909.79*49

2021-08-14T13:29:09.472Z,1628947749.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 192.543729 deg, deltaT: 4.397019 s, approachRate: 0.040937 m/s, LOS rate: 3.115873 deg/s, posRepo size: 4
2021-08-14T13:29:09.474Z,1628947749.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 192.543729 deg,
      approachRate: 0.040937 m/s,
      LOS rate: 3.115873 deg/s,
      cmd update: 9.347619 deg/s,
      cmd heading: 195.752644 deg,
      new cmd heading: 193.678542 deg.

2021-08-14T13:29:11.408Z,1628947751.408 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T13:29:11.793Z,1628947751.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:12.181Z,1628947752.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:12.181Z,1628947752.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:12.181Z,1628947752.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:12.182Z,1628947752.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:12.569Z,1628947752.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,0031A,186,80,80,6A,FF
2021-08-14T13:29:12.569Z,1628947752.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:12.569Z,1628947752.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:12.571Z,1628947752.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:12.977Z,1628947752.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:13.381Z,1628947753.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00349,185,80,80,82,FF
2021-08-14T13:29:13.381Z,1628947753.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:13.494Z,1628947753.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:13.834Z,1628947753.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132914.23*53

2021-08-14T13:29:13.855Z,1628947753.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 195.297347 deg, deltaT: 4.543707 s, approachRate: 0.620639 m/s, LOS rate: 0.606029 deg/s, posRepo size: 4
2021-08-14T13:29:13.858Z,1628947753.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.960001 m,
      bearing: 195.297347 deg,
      approachRate: 0.620639 m/s,
      LOS rate: 0.606029 deg/s,
      cmd update: 1.818087 deg/s,
      cmd heading: 238.124458 deg,
      new cmd heading: 241.628254 deg.

2021-08-14T13:29:16.246Z,1628947756.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:16.617Z,1628947756.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:16.617Z,1628947756.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:16.617Z,1628947756.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:16.618Z,1628947756.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:17.021Z,1628947757.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00349,185,80,80,82,FF
2021-08-14T13:29:17.021Z,1628947757.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:17.021Z,1628947757.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:17.023Z,1628947757.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:17.421Z,1628947757.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:17.830Z,1628947757.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00377,186,80,80,80,FF
2021-08-14T13:29:17.830Z,1628947757.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:17.854Z,1628947757.854 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:18.265Z,1628947758.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132918.68*50

2021-08-14T13:29:18.291Z,1628947758.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 240.909679 deg, deltaT: 4.359739 s, approachRate: 0.633065 m/s, LOS rate: 10.462170 deg/s, posRepo size: 4
2021-08-14T13:29:18.320Z,1628947758.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 240.909679 deg,
      approachRate: 0.633065 m/s,
      LOS rate: 10.462170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 246.070607 deg,
      new cmd heading: 246.870194 deg.

2021-08-14T13:29:20.733Z,1628947760.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:21.057Z,1628947761.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:21.057Z,1628947761.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:21.058Z,1628947761.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:21.059Z,1628947761.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:21.457Z,1628947761.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00377,186,80,80,80,FF
2021-08-14T13:29:21.457Z,1628947761.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:21.458Z,1628947761.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:21.459Z,1628947761.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:21.864Z,1628947761.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:22.269Z,1628947762.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,0038B,186,80,80,6D,FF
2021-08-14T13:29:22.270Z,1628947762.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:22.324Z,1628947762.324 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:22.701Z,1628947762.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132923.12*55

2021-08-14T13:29:22.734Z,1628947762.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 250.429296 deg, deltaT: 4.469254 s, approachRate: 0.268501 m/s, LOS rate: 2.130024 deg/s, posRepo size: 4
2021-08-14T13:29:22.736Z,1628947762.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.919998 m,
      bearing: 250.429296 deg,
      approachRate: 0.268501 m/s,
      LOS rate: 2.130024 deg/s,
      cmd update: 6.390071 deg/s,
      cmd heading: 299.652167 deg,
      new cmd heading: 304.662588 deg.

2021-08-14T13:29:25.153Z,1628947765.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:25.497Z,1628947765.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:25.497Z,1628947765.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:25.497Z,1628947765.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:25.498Z,1628947765.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:25.917Z,1628947765.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,0038B,186,80,80,6D,FF
2021-08-14T13:29:25.917Z,1628947765.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:25.917Z,1628947765.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:25.919Z,1628947765.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:26.317Z,1628947766.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:26.714Z,1628947766.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,003A2,186,80,80,AB,FF
2021-08-14T13:29:26.714Z,1628947766.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:26.739Z,1628947766.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:27.158Z,1628947767.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132927.58*5F

2021-08-14T13:29:27.267Z,1628947767.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 271.793608 deg, deltaT: 4.414771 s, approachRate: 0.312587 m/s, LOS rate: 4.839280 deg/s, posRepo size: 4
2021-08-14T13:29:27.271Z,1628947767.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.30 m. Rolling out.
2021-08-14T13:29:27.271Z,1628947767.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T13:29:29.599Z,1628947769.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:29.957Z,1628947769.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:29.957Z,1628947769.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:29.957Z,1628947769.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:29.958Z,1628947769.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:30.349Z,1628947770.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,003A2,186,80,80,AB,FF
2021-08-14T13:29:30.349Z,1628947770.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:30.349Z,1628947770.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:30.351Z,1628947770.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:30.753Z,1628947770.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:31.594Z,1628947771.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132932.01*57

2021-08-14T13:29:32.403Z,1628947772.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:32.772Z,1628947772.772 [PowerOnly](INFO): Powering down loadControl
2021-08-14T13:29:35.262Z,1628947775.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:36.016Z,1628947776.016 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.058033
2021-08-14T13:29:38.086Z,1628947778.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:38.425Z,1628947778.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:38.425Z,1628947778.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:38.425Z,1628947778.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:38.426Z,1628947778.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:38.838Z,1628947778.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,003A2,186,80,80,AB,FF
2021-08-14T13:29:38.838Z,1628947778.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:38.838Z,1628947778.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:38.840Z,1628947778.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:39.286Z,1628947779.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:39.637Z,1628947779.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,003C8,188,80,80,9E,FF
2021-08-14T13:29:39.638Z,1628947779.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:39.658Z,1628947779.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:40.085Z,1628947780.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132940.51*57

2021-08-14T13:29:40.127Z,1628947780.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 330.972280 deg, deltaT: 12.919333 s, approachRate: 0.176480 m/s, LOS rate: 4.580629 deg/s, posRepo size: 4
2021-08-14T13:29:42.172Z,1628947782.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:42.461Z,1628947782.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:42.461Z,1628947782.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:42.461Z,1628947782.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:42.462Z,1628947782.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:42.878Z,1628947782.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,003C8,188,80,80,9E,FF
2021-08-14T13:29:42.878Z,1628947782.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:42.878Z,1628947782.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:42.880Z,1628947782.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:43.288Z,1628947783.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:43.685Z,1628947783.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,003BA,189,80,80,6F,FF
2021-08-14T13:29:43.686Z,1628947783.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:43.706Z,1628947783.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:44.134Z,1628947784.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132944.55*57

2021-08-14T13:29:44.159Z,1628947784.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 354.739972 deg, deltaT: 4.047793 s, approachRate: -0.207521 m/s, LOS rate: 5.871766 deg/s, posRepo size: 4
2021-08-14T13:29:46.526Z,1628947786.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:46.909Z,1628947786.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:46.909Z,1628947786.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:46.909Z,1628947786.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:46.910Z,1628947786.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:47.326Z,1628947787.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,003BA,189,80,80,6F,FF
2021-08-14T13:29:47.326Z,1628947787.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:47.326Z,1628947787.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:47.328Z,1628947787.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:47.721Z,1628947787.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:48.117Z,1628947788.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCC,000,003BB,188,80,80,95,FF
2021-08-14T13:29:48.118Z,1628947788.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:48.148Z,1628947788.148 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:48.561Z,1628947788.561 [Micromodem](INFO): Nmea in: $SNTTA,0.035199,,,,132948.99*42

2021-08-14T13:29:48.594Z,1628947788.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 14.546601 deg, deltaT: 4.442652 s, approachRate: 0.013505 m/s, LOS rate: 4.458291 deg/s, posRepo size: 4
2021-08-14T13:29:50.971Z,1628947790.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:51.353Z,1628947791.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:51.354Z,1628947791.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:51.354Z,1628947791.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:51.355Z,1628947791.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:51.770Z,1628947791.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCC,000,003BB,188,80,80,95,FF
2021-08-14T13:29:51.770Z,1628947791.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:51.770Z,1628947791.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:51.773Z,1628947791.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:52.166Z,1628947792.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:52.565Z,1628947792.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,003AB,187,80,80,AB,FF
2021-08-14T13:29:52.566Z,1628947792.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:52.621Z,1628947792.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:53.005Z,1628947793.005 [Micromodem](INFO): Nmea in: $SNTTA,0.039552,,,,132953.44*47

2021-08-14T13:29:53.070Z,1628947793.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 354.765380 deg, deltaT: 4.472970 s, approachRate: -0.214622 m/s, LOS rate: -4.422393 deg/s, posRepo size: 4
2021-08-14T13:29:55.462Z,1628947795.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:29:55.837Z,1628947795.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:29:55.837Z,1628947795.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:29:55.838Z,1628947795.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:29:55.839Z,1628947795.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:29:56.209Z,1628947796.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,003AB,187,80,80,AB,FF
2021-08-14T13:29:56.209Z,1628947796.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:29:56.209Z,1628947796.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:29:56.211Z,1628947796.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:29:56.608Z,1628947796.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:29:57.021Z,1628947797.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,003B8,188,80,80,57,FF
2021-08-14T13:29:57.022Z,1628947797.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:29:57.110Z,1628947797.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:29:57.457Z,1628947797.457 [Micromodem](INFO): Nmea in: $SNTTA,0.035493,,,,132957.87*4C

2021-08-14T13:29:57.511Z,1628947797.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 296.778413 deg, deltaT: 4.489226 s, approachRate: 0.173749 m/s, LOS rate: -12.916919 deg/s, posRepo size: 4
2021-08-14T13:29:58.233Z,1628947798.233 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:29:59.861Z,1628947799.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:00.241Z,1628947800.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:00.241Z,1628947800.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:00.241Z,1628947800.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:00.242Z,1628947800.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:00.677Z,1628947800.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,003B8,188,80,80,57,FF
2021-08-14T13:30:00.677Z,1628947800.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:00.678Z,1628947800.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:00.680Z,1628947800.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:01.125Z,1628947801.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:01.466Z,1628947801.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,003D1,187,80,80,78,FF
2021-08-14T13:30:01.466Z,1628947801.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:01.506Z,1628947801.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:01.888Z,1628947801.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133002.35*5B

2021-08-14T13:30:01.929Z,1628947801.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 352.505380 deg, deltaT: 4.395846 s, approachRate: 0.341232 m/s, LOS rate: 12.677188 deg/s, posRepo size: 4
2021-08-14T13:30:04.317Z,1628947804.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:04.697Z,1628947804.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:04.697Z,1628947804.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:04.698Z,1628947804.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:04.699Z,1628947804.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:05.121Z,1628947805.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,003D1,187,80,80,78,FF
2021-08-14T13:30:05.121Z,1628947805.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:05.121Z,1628947805.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:05.123Z,1628947805.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:05.528Z,1628947805.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:05.941Z,1628947805.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,003DC,186,80,80,92,FF
2021-08-14T13:30:05.941Z,1628947805.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:05.961Z,1628947805.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:06.373Z,1628947806.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133006.79*57

2021-08-14T13:30:06.423Z,1628947806.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 333.361753 deg, deltaT: 4.455111 s, approachRate: 0.148144 m/s, LOS rate: -4.297003 deg/s, posRepo size: 4
2021-08-14T13:30:08.792Z,1628947808.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:09.180Z,1628947809.180 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:09.181Z,1628947809.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:09.181Z,1628947809.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:09.183Z,1628947809.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:09.569Z,1628947809.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,003DC,186,80,80,92,FF
2021-08-14T13:30:09.569Z,1628947809.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:09.569Z,1628947809.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:09.571Z,1628947809.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:09.969Z,1628947809.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:10.379Z,1628947810.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,003FC,186,80,80,85,FF
2021-08-14T13:30:10.379Z,1628947810.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:10.409Z,1628947810.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:10.813Z,1628947810.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133011.23*5E

2021-08-14T13:30:10.835Z,1628947810.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 348.242113 deg, deltaT: 4.447829 s, approachRate: 0.431672 m/s, LOS rate: 3.345533 deg/s, posRepo size: 4
2021-08-14T13:30:13.290Z,1628947813.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:13.617Z,1628947813.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:13.617Z,1628947813.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:13.618Z,1628947813.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:13.619Z,1628947813.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:14.013Z,1628947814.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,003FC,186,80,80,85,FF
2021-08-14T13:30:14.013Z,1628947814.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:14.013Z,1628947814.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:14.015Z,1628947814.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:14.434Z,1628947814.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:14.829Z,1628947814.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,0041C,186,80,80,89,FF
2021-08-14T13:30:14.830Z,1628947814.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:14.854Z,1628947814.854 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:15.285Z,1628947815.285 [Micromodem](INFO): Nmea in: $SNTTA,0.041382,,,,133015.68*47

2021-08-14T13:30:15.366Z,1628947815.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 342.910330 deg, deltaT: 4.445164 s, approachRate: 0.431930 m/s, LOS rate: -1.199457 deg/s, posRepo size: 4
2021-08-14T13:30:17.356Z,1628947817.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:17.657Z,1628947817.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:17.657Z,1628947817.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:17.657Z,1628947817.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:17.658Z,1628947817.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:18.069Z,1628947818.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,0041C,186,80,80,89,FF
2021-08-14T13:30:18.069Z,1628947818.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:18.069Z,1628947818.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:18.071Z,1628947818.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:18.476Z,1628947818.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:18.857Z,1628947818.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,00437,187,80,80,81,FF
2021-08-14T13:30:18.858Z,1628947818.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:18.906Z,1628947818.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:19.321Z,1628947819.321 [Micromodem](INFO): Nmea in: $SNTTA,0.049339,$CAREV,133020,COPROC,0.20.0.39330*78

2021-08-14T13:30:19.322Z,1628947819.322 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,0.049339,$CAREV,133020,COPROC,0.20.0.39330*78
 expected 1A
2021-08-14T13:30:19.405Z,1628947819.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 340.419169 deg, deltaT: 4.051294 s, approachRate: 0.399872 m/s, LOS rate: -0.614905 deg/s, posRepo size: 4
2021-08-14T13:30:21.727Z,1628947821.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:22.113Z,1628947822.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:22.113Z,1628947822.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:22.113Z,1628947822.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:22.114Z,1628947822.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:22.502Z,1628947822.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,00437,187,80,80,81,FF
2021-08-14T13:30:22.502Z,1628947822.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:22.502Z,1628947822.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:22.506Z,1628947822.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:22.908Z,1628947822.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:23.319Z,1628947823.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEA,000,0045A,186,80,80,7D,FF
2021-08-14T13:30:23.320Z,1628947823.320 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:23.415Z,1628947823.415 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:23.745Z,1628947823.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133024.17*5F

2021-08-14T13:30:23.797Z,1628947823.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 339.653696 deg, deltaT: 4.508810 s, approachRate: 0.465755 m/s, LOS rate: -0.169773 deg/s, posRepo size: 4
2021-08-14T13:30:26.169Z,1628947826.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:26.537Z,1628947826.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:26.537Z,1628947826.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:26.537Z,1628947826.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:26.538Z,1628947826.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:26.941Z,1628947826.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEA,000,0045A,186,80,80,7D,FF
2021-08-14T13:30:26.941Z,1628947826.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:26.941Z,1628947826.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:26.943Z,1628947826.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:27.361Z,1628947827.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:27.391Z,1628947827.391 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:30:28.188Z,1628947828.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133028.61*52

2021-08-14T13:30:29.018Z,1628947829.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:30.579Z,1628947830.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,7D,FF
2021-08-14T13:30:30.579Z,1628947830.579 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,7D,FF
2021-08-14T13:30:30.579Z,1628947830.579 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:30:31.819Z,1628947831.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:32.202Z,1628947832.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:32.202Z,1628947832.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:32.203Z,1628947832.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:32.204Z,1628947832.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:32.601Z,1628947832.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,7D,FF
2021-08-14T13:30:32.601Z,1628947832.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:32.601Z,1628947832.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:32.603Z,1628947832.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:33.016Z,1628947833.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:33.420Z,1628947833.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,004BE,186,80,80,7C,FF
2021-08-14T13:30:33.421Z,1628947833.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:33.490Z,1628947833.490 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:33.858Z,1628947833.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133034.27*5D

2021-08-14T13:30:33.907Z,1628947833.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 345.468209 deg, deltaT: 10.075719 s, approachRate: 0.595491 m/s, LOS rate: 0.577082 deg/s, posRepo size: 4
2021-08-14T13:30:36.310Z,1628947836.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:36.637Z,1628947836.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:36.637Z,1628947836.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:36.637Z,1628947836.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:36.638Z,1628947836.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:37.058Z,1628947837.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,004BE,186,80,80,7C,FF
2021-08-14T13:30:37.058Z,1628947837.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:37.059Z,1628947837.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:37.078Z,1628947837.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:37.480Z,1628947837.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:37.499Z,1628947837.499 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:30:37.869Z,1628947837.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,004EC,186,80,80,82,FF
2021-08-14T13:30:37.869Z,1628947837.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:37.933Z,1628947837.933 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:38.309Z,1628947838.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133038.74*57

2021-08-14T13:30:38.335Z,1628947838.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 332.501204 deg, deltaT: 4.443582 s, approachRate: 0.621120 m/s, LOS rate: -2.918142 deg/s, posRepo size: 4
2021-08-14T13:30:40.726Z,1628947840.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:41.109Z,1628947841.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:41.109Z,1628947841.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:41.109Z,1628947841.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:41.110Z,1628947841.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:41.513Z,1628947841.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,004EC,186,80,80,82,FF
2021-08-14T13:30:41.513Z,1628947841.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:41.513Z,1628947841.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:41.515Z,1628947841.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:41.909Z,1628947841.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:42.317Z,1628947842.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00516,185,80,80,75,FF
2021-08-14T13:30:42.318Z,1628947842.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:42.368Z,1628947842.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:30:42.755Z,1628947842.755 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133043.18*51

2021-08-14T13:30:42.809Z,1628947842.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 329.607116 deg, deltaT: 4.434097 s, approachRate: 0.568324 m/s, LOS rate: -0.652689 deg/s, posRepo size: 4
2021-08-14T13:30:43.165Z,1628947843.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:30:43.165Z,1628947843.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:30:43.167Z,1628947843.167 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:30:43.176Z,1628947843.176 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:30:43.177Z,1628947843.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:30:43.177Z,1628947843.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:30:43.587Z,1628947843.587 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:30:43.588Z,1628947843.588 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:30:43.588Z,1628947843.588 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:30:43.588Z,1628947843.588 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:30:45.256Z,1628947845.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:45.553Z,1628947845.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:45.553Z,1628947845.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:45.553Z,1628947845.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:45.554Z,1628947845.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:45.957Z,1628947845.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00516,185,80,80,75,FF
2021-08-14T13:30:45.958Z,1628947845.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:45.958Z,1628947845.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:45.959Z,1628947845.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:46.357Z,1628947846.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:47.234Z,1628947847.234 [Micromodem](INFO): Nmea in: $SNTTA,0.056670,,,,133047.62*44

2021-08-14T13:30:48.003Z,1628947848.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:49.596Z,1628947849.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,75,FF
2021-08-14T13:30:49.596Z,1628947849.596 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,75,FF
2021-08-14T13:30:49.596Z,1628947849.596 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:30:50.834Z,1628947850.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:51.234Z,1628947851.234 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:51.234Z,1628947851.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:51.234Z,1628947851.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:51.235Z,1628947851.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:51.609Z,1628947851.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,75,FF
2021-08-14T13:30:51.609Z,1628947851.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:51.609Z,1628947851.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:51.611Z,1628947851.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:52.029Z,1628947852.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:52.413Z,1628947852.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,0057A,185,80,80,65,FF
2021-08-14T13:30:52.413Z,1628947852.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:52.865Z,1628947852.865 [Micromodem](INFO): Nmea in: $SNTTA,0.071729,,,,133053.27*48

2021-08-14T13:30:52.887Z,1628947852.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 309.851067 deg, deltaT: 10.119754 s, approachRate: 0.592899 m/s, LOS rate: -1.952226 deg/s, posRepo size: 4
2021-08-14T13:30:55.338Z,1628947855.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:30:55.645Z,1628947855.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:30:55.645Z,1628947855.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:30:55.645Z,1628947855.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:30:55.646Z,1628947855.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:30:56.058Z,1628947856.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,0057A,185,80,80,65,FF
2021-08-14T13:30:56.058Z,1628947856.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:30:56.059Z,1628947856.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:30:56.065Z,1628947856.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:30:56.461Z,1628947856.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:30:56.857Z,1628947856.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,005AC,184,80,80,53,FF
2021-08-14T13:30:56.858Z,1628947856.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:30:57.325Z,1628947857.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133057.73*59

2021-08-14T13:30:57.387Z,1628947857.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.619995 m, bearing: 324.223889 deg, deltaT: 4.389078 s, approachRate: 0.683514 m/s, LOS rate: 3.274679 deg/s, posRepo size: 4
2021-08-14T13:30:59.719Z,1628947859.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:00.105Z,1628947860.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:00.105Z,1628947860.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:00.105Z,1628947860.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:00.106Z,1628947860.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:00.489Z,1628947860.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,005AC,184,80,80,53,FF
2021-08-14T13:31:00.489Z,1628947860.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:00.490Z,1628947860.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:00.491Z,1628947860.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:00.909Z,1628947860.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:01.321Z,1628947861.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B5,000,005D8,186,80,80,80,FF
2021-08-14T13:31:01.321Z,1628947861.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:01.325Z,1628947861.325 [Micromodem](INFO): Nmea in: $SNTTA,0.253438,0.253451,,,133102.15*57

2021-08-14T13:31:01.746Z,1628947861.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 304.362081 deg, deltaT: 4.527887 s, approachRate: 0.583055 m/s, LOS rate: -4.386551 deg/s, posRepo size: 4
2021-08-14T13:31:04.161Z,1628947864.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:04.533Z,1628947864.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:04.533Z,1628947864.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:04.533Z,1628947864.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:04.534Z,1628947864.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:04.937Z,1628947864.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B5,000,005D8,186,80,80,80,FF
2021-08-14T13:31:04.937Z,1628947864.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:04.937Z,1628947864.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:04.939Z,1628947864.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:05.353Z,1628947865.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:05.756Z,1628947865.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00608,189,80,80,92,FF
2021-08-14T13:31:05.757Z,1628947865.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:06.181Z,1628947866.181 [Micromodem](INFO): Nmea in: $SNTTA,,0.030469,,,133106.60*48

2021-08-14T13:31:06.207Z,1628947866.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 297.704204 deg, deltaT: 4.382766 s, approachRate: 0.657120 m/s, LOS rate: -1.519104 deg/s, posRepo size: 4
2021-08-14T13:31:08.591Z,1628947868.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:08.986Z,1628947868.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:08.986Z,1628947868.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:08.987Z,1628947868.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:08.987Z,1628947868.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:09.393Z,1628947869.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00608,189,80,80,92,FF
2021-08-14T13:31:09.393Z,1628947869.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:09.393Z,1628947869.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:09.395Z,1628947869.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:09.801Z,1628947869.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:10.197Z,1628947870.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D4,000,00634,186,80,80,76,FF
2021-08-14T13:31:10.197Z,1628947870.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:10.634Z,1628947870.634 [Micromodem](INFO): Nmea in: $SNTTA,0.046627,,,,133111.06*47

2021-08-14T13:31:10.658Z,1628947870.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 302.709449 deg, deltaT: 4.460376 s, approachRate: 0.591878 m/s, LOS rate: 1.122157 deg/s, posRepo size: 4
2021-08-14T13:31:13.083Z,1628947873.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:13.425Z,1628947873.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:13.425Z,1628947873.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:13.425Z,1628947873.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:13.426Z,1628947873.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:13.829Z,1628947873.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D4,000,00634,186,80,80,76,FF
2021-08-14T13:31:13.830Z,1628947873.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:13.830Z,1628947873.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:13.831Z,1628947873.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:14.237Z,1628947874.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:14.644Z,1628947874.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00665,186,80,80,8E,FF
2021-08-14T13:31:14.645Z,1628947874.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:15.089Z,1628947875.089 [Micromodem](INFO): Nmea in: $SNTTA,0.052392,,,,133115.49*46

2021-08-14T13:31:15.134Z,1628947875.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.720005 m, bearing: 338.705611 deg, deltaT: 4.416907 s, approachRate: 0.665625 m/s, LOS rate: 8.149631 deg/s, posRepo size: 4
2021-08-14T13:31:17.505Z,1628947877.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:17.865Z,1628947877.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:17.865Z,1628947877.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:17.865Z,1628947877.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:17.866Z,1628947877.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:18.273Z,1628947878.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00665,186,80,80,8E,FF
2021-08-14T13:31:18.273Z,1628947878.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:18.273Z,1628947878.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:18.275Z,1628947878.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:18.685Z,1628947878.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:19.113Z,1628947879.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,00694,187,80,80,76,FF
2021-08-14T13:31:19.113Z,1628947879.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:19.498Z,1628947879.498 [Micromodem](INFO): Nmea in: $SNTTA,0.074021,0.361953,,,133119.94*50

2021-08-14T13:31:19.544Z,1628947879.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.540001 m, bearing: 300.096027 deg, deltaT: 4.512569 s, approachRate: 0.624920 m/s, LOS rate: -8.556010 deg/s, posRepo size: 4
2021-08-14T13:31:21.934Z,1628947881.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:22.313Z,1628947882.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:22.313Z,1628947882.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:22.313Z,1628947882.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:22.314Z,1628947882.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:22.717Z,1628947882.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,00694,187,80,80,76,FF
2021-08-14T13:31:22.717Z,1628947882.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:22.717Z,1628947882.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:22.719Z,1628947882.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:23.133Z,1628947883.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:23.525Z,1628947883.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,006C4,186,80,80,79,FF
2021-08-14T13:31:23.526Z,1628947883.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:23.529Z,1628947883.529 [Micromodem](INFO): Nmea in: $SNTTA,0.178782,0.178345,,,133124.38*5C

2021-08-14T13:31:23.967Z,1628947883.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 344.471684 deg, deltaT: 4.434527 s, approachRate: 0.649449 m/s, LOS rate: 10.006852 deg/s, posRepo size: 4
2021-08-14T13:31:26.391Z,1628947886.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:26.753Z,1628947886.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:26.754Z,1628947886.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:26.754Z,1628947886.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:26.755Z,1628947886.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:27.158Z,1628947887.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,006C4,186,80,80,79,FF
2021-08-14T13:31:27.158Z,1628947887.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:27.158Z,1628947887.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:27.160Z,1628947887.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:27.572Z,1628947887.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:27.969Z,1628947887.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF1,000,006F6,186,80,80,92,FF
2021-08-14T13:31:27.969Z,1628947887.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:28.409Z,1628947888.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133128.82*5E

2021-08-14T13:31:28.455Z,1628947888.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 340.603748 deg, deltaT: 4.376978 s, approachRate: 0.685406 m/s, LOS rate: -0.883700 deg/s, posRepo size: 4
2021-08-14T13:31:30.839Z,1628947890.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:31.213Z,1628947891.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:31.214Z,1628947891.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:31.214Z,1628947891.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:31.217Z,1628947891.217 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:31.606Z,1628947891.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF1,000,006F6,186,80,80,92,FF
2021-08-14T13:31:31.606Z,1628947891.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:31.606Z,1628947891.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:31.608Z,1628947891.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:32.017Z,1628947892.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:32.418Z,1628947892.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00729,185,80,80,92,FF
2021-08-14T13:31:32.418Z,1628947892.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:32.849Z,1628947892.849 [Micromodem](INFO): Nmea in: $SNTTA,0.057827,,,,133133.27*4A

2021-08-14T13:31:32.883Z,1628947892.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 344.282816 deg, deltaT: 4.499095 s, approachRate: 0.680136 m/s, LOS rate: 0.817735 deg/s, posRepo size: 4
2021-08-14T13:31:35.354Z,1628947895.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:35.641Z,1628947895.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:35.641Z,1628947895.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:35.641Z,1628947895.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:35.642Z,1628947895.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:36.066Z,1628947896.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,00729,185,80,80,92,FF
2021-08-14T13:31:36.066Z,1628947896.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:36.066Z,1628947896.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:36.068Z,1628947896.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:36.452Z,1628947896.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:36.857Z,1628947896.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,0075A,187,80,80,6C,FF
2021-08-14T13:31:36.858Z,1628947896.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:37.334Z,1628947897.334 [Micromodem](INFO): Nmea in: $SNTTA,0.058179,,,,133137.73*42

2021-08-14T13:31:37.401Z,1628947897.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.420006 m, bearing: 339.809807 deg, deltaT: 4.388712 s, approachRate: 0.669901 m/s, LOS rate: -1.019208 deg/s, posRepo size: 4
2021-08-14T13:31:39.723Z,1628947899.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:40.109Z,1628947900.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:40.109Z,1628947900.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:40.109Z,1628947900.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:40.110Z,1628947900.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:40.513Z,1628947900.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,0075A,187,80,80,6C,FF
2021-08-14T13:31:40.513Z,1628947900.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:40.513Z,1628947900.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:40.515Z,1628947900.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:40.896Z,1628947900.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:41.305Z,1628947901.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00790,185,80,80,77,FF
2021-08-14T13:31:41.305Z,1628947901.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:41.729Z,1628947901.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133142.18*51

2021-08-14T13:31:41.772Z,1628947901.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.660004 m, bearing: 342.745368 deg, deltaT: 4.515387 s, approachRate: 0.717546 m/s, LOS rate: 0.650124 deg/s, posRepo size: 4
2021-08-14T13:31:44.169Z,1628947904.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:44.549Z,1628947904.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:44.549Z,1628947904.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:44.549Z,1628947904.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:44.550Z,1628947904.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:44.941Z,1628947904.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00790,185,80,80,77,FF
2021-08-14T13:31:44.942Z,1628947904.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:44.942Z,1628947904.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:44.944Z,1628947904.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:45.361Z,1628947905.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:45.745Z,1628947905.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,007BD,186,80,80,7C,FF
2021-08-14T13:31:45.746Z,1628947905.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:46.202Z,1628947906.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.360008 m, bearing: 345.803325 deg, deltaT: 4.407759 s, approachRate: 0.612557 m/s, LOS rate: 0.693767 deg/s, posRepo size: 4
2021-08-14T13:31:48.615Z,1628947908.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:48.974Z,1628947908.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:48.974Z,1628947908.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:48.974Z,1628947908.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:48.975Z,1628947908.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:49.397Z,1628947909.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,007BD,186,80,80,7C,FF
2021-08-14T13:31:49.397Z,1628947909.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:49.397Z,1628947909.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:49.399Z,1628947909.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:49.803Z,1628947909.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:50.199Z,1628947910.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,007EE,186,80,80,8A,FF
2021-08-14T13:31:50.199Z,1628947910.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:50.621Z,1628947910.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133151.06*5C

2021-08-14T13:31:50.657Z,1628947910.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.300011 m, bearing: 345.764639 deg, deltaT: 4.454627 s, approachRate: 0.659988 m/s, LOS rate: -0.008684 deg/s, posRepo size: 4
2021-08-14T13:31:53.087Z,1628947913.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:53.425Z,1628947913.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:53.425Z,1628947913.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:53.426Z,1628947913.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:53.426Z,1628947913.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:53.829Z,1628947913.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,007EE,186,80,80,8A,FF
2021-08-14T13:31:53.829Z,1628947913.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:53.829Z,1628947913.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:53.831Z,1628947913.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:54.245Z,1628947914.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:54.649Z,1628947914.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF1,000,00829,187,80,80,2B,FF
2021-08-14T13:31:54.649Z,1628947914.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:55.093Z,1628947915.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133155.49*53

2021-08-14T13:31:55.142Z,1628947915.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.839996 m, bearing: 353.727410 deg, deltaT: 4.413965 s, approachRate: 0.801997 m/s, LOS rate: 1.803995 deg/s, posRepo size: 4
2021-08-14T13:31:57.530Z,1628947917.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:31:57.865Z,1628947917.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:31:57.865Z,1628947917.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:31:57.865Z,1628947917.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:31:57.866Z,1628947917.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:31:58.279Z,1628947918.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF1,000,00829,187,80,80,2B,FF
2021-08-14T13:31:58.279Z,1628947918.279 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:31:58.280Z,1628947918.280 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:31:58.282Z,1628947918.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:31:58.677Z,1628947918.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:31:59.107Z,1628947919.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00858,186,80,80,A5,FF
2021-08-14T13:31:59.109Z,1628947919.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:31:59.517Z,1628947919.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133159.95*5E

2021-08-14T13:31:59.579Z,1628947919.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 343.980293 deg, deltaT: 4.584699 s, approachRate: 0.615091 m/s, LOS rate: -2.126010 deg/s, posRepo size: 4
2021-08-14T13:32:01.926Z,1628947921.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:02.327Z,1628947922.327 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:02.327Z,1628947922.327 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:02.327Z,1628947922.327 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:02.328Z,1628947922.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:02.717Z,1628947922.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00858,186,80,80,A5,FF
2021-08-14T13:32:02.717Z,1628947922.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:02.717Z,1628947922.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:02.719Z,1628947922.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:03.129Z,1628947923.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:03.523Z,1628947923.523 [Micromodem](INFO): Nmea in: $SNTTA,0.179822,0.179947,,,133204.38*50

2021-08-14T13:32:04.781Z,1628947924.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:06.354Z,1628947926.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,A5,FF
2021-08-14T13:32:06.354Z,1628947926.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,A5,FF
2021-08-14T13:32:06.354Z,1628947926.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:32:07.288Z,1628947927.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:07.557Z,1628947927.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:07.557Z,1628947927.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:07.557Z,1628947927.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:07.558Z,1628947927.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:07.965Z,1628947927.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,A5,FF
2021-08-14T13:32:07.965Z,1628947927.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:07.965Z,1628947927.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:07.967Z,1628947927.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:08.369Z,1628947928.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:08.778Z,1628947928.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,008C7,186,80,80,96,FF
2021-08-14T13:32:08.778Z,1628947928.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:09.245Z,1628947929.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133209.63*51

2021-08-14T13:32:09.308Z,1628947929.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 340.083315 deg, deltaT: 9.573785 s, approachRate: 0.695649 m/s, LOS rate: -0.407047 deg/s, posRepo size: 4
2021-08-14T13:32:11.329Z,1628947931.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:11.601Z,1628947931.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:11.601Z,1628947931.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:11.601Z,1628947931.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:11.602Z,1628947931.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:12.007Z,1628947932.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,008C7,186,80,80,96,FF
2021-08-14T13:32:12.008Z,1628947932.008 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:12.008Z,1628947932.008 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:12.011Z,1628947932.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:12.422Z,1628947932.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:12.821Z,1628947932.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6F,000,008F5,186,80,80,84,FF
2021-08-14T13:32:12.821Z,1628947932.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:13.269Z,1628947933.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133213.67*5E

2021-08-14T13:32:13.343Z,1628947933.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.080002 m, bearing: 346.996751 deg, deltaT: 4.040811 s, approachRate: 0.683032 m/s, LOS rate: 1.710903 deg/s, posRepo size: 4
2021-08-14T13:32:15.375Z,1628947935.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:15.653Z,1628947935.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:15.653Z,1628947935.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:15.653Z,1628947935.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:15.654Z,1628947935.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:16.072Z,1628947936.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6F,000,008F5,186,80,80,84,FF
2021-08-14T13:32:16.072Z,1628947936.072 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:16.072Z,1628947936.072 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:16.074Z,1628947936.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:16.456Z,1628947936.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:16.857Z,1628947936.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00923,186,80,80,9A,FF
2021-08-14T13:32:16.858Z,1628947936.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:17.333Z,1628947937.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133217.74*58

2021-08-14T13:32:17.403Z,1628947937.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 341.366407 deg, deltaT: 4.009541 s, approachRate: 0.688359 m/s, LOS rate: -1.404236 deg/s, posRepo size: 4
2021-08-14T13:32:19.706Z,1628947939.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:20.109Z,1628947940.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:20.109Z,1628947940.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:20.109Z,1628947940.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:20.110Z,1628947940.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:20.489Z,1628947940.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00923,186,80,80,9A,FF
2021-08-14T13:32:20.489Z,1628947940.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:20.489Z,1628947940.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:20.491Z,1628947940.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:20.901Z,1628947940.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:21.297Z,1628947941.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00954,186,80,80,92,FF
2021-08-14T13:32:21.297Z,1628947941.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:21.301Z,1628947941.301 [Micromodem](INFO): Nmea in: $SNTTA,0.250563,0.250320,,,133222.16*5B

2021-08-14T13:32:21.737Z,1628947941.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.779999 m, bearing: 344.020099 deg, deltaT: 4.512605 s, approachRate: 0.651507 m/s, LOS rate: 0.588062 deg/s, posRepo size: 4
2021-08-14T13:32:24.179Z,1628947944.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:24.526Z,1628947944.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:24.526Z,1628947944.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:24.526Z,1628947944.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:24.527Z,1628947944.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:24.941Z,1628947944.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00954,186,80,80,92,FF
2021-08-14T13:32:24.942Z,1628947944.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:24.942Z,1628947944.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:24.944Z,1628947944.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:25.349Z,1628947945.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:25.823Z,1628947945.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,00985,186,80,80,82,FF
2021-08-14T13:32:25.823Z,1628947945.823 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:26.186Z,1628947946.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.720001 m, bearing: 339.398411 deg, deltaT: 4.508895 s, approachRate: 0.652045 m/s, LOS rate: -1.025016 deg/s, posRepo size: 4
2021-08-14T13:32:28.592Z,1628947948.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:28.973Z,1628947948.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:28.973Z,1628947948.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:28.973Z,1628947948.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:28.974Z,1628947948.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:29.377Z,1628947949.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,00985,186,80,80,82,FF
2021-08-14T13:32:29.377Z,1628947949.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:29.377Z,1628947949.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:29.379Z,1628947949.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:29.796Z,1628947949.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:30.185Z,1628947950.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,009B7,186,80,80,98,FF
2021-08-14T13:32:30.186Z,1628947950.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:30.629Z,1628947950.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133231.04*5B

2021-08-14T13:32:30.645Z,1628947950.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.720009 m, bearing: 343.015870 deg, deltaT: 4.350653 s, approachRate: 0.689553 m/s, LOS rate: 0.831475 deg/s, posRepo size: 4
2021-08-14T13:32:33.087Z,1628947953.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:33.417Z,1628947953.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:33.417Z,1628947953.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:33.417Z,1628947953.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:33.418Z,1628947953.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:33.825Z,1628947953.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,009B7,186,80,80,98,FF
2021-08-14T13:32:33.825Z,1628947953.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:33.825Z,1628947953.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:33.827Z,1628947953.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:34.228Z,1628947954.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:34.633Z,1628947954.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,009EC,187,80,80,8B,FF
2021-08-14T13:32:34.633Z,1628947954.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:35.068Z,1628947955.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133235.49*56

2021-08-14T13:32:35.107Z,1628947955.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.900002 m, bearing: 342.292854 deg, deltaT: 4.435452 s, approachRate: 0.716949 m/s, LOS rate: -0.163009 deg/s, posRepo size: 4
2021-08-14T13:32:37.509Z,1628947957.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:37.873Z,1628947957.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:37.873Z,1628947957.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:37.873Z,1628947957.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:37.874Z,1628947957.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:38.273Z,1628947958.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,009EC,187,80,80,8B,FF
2021-08-14T13:32:38.273Z,1628947958.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:38.273Z,1628947958.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:38.275Z,1628947958.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:38.687Z,1628947958.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:39.105Z,1628947959.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00A1D,186,80,80,97,FF
2021-08-14T13:32:39.106Z,1628947959.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:39.497Z,1628947959.497 [Micromodem](INFO): Nmea in: $SNTTA,0.359645,0.359170,,,133239.94*5B

2021-08-14T13:32:39.543Z,1628947959.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.840004 m, bearing: 341.060251 deg, deltaT: 4.451003 s, approachRate: 0.660526 m/s, LOS rate: -0.276927 deg/s, posRepo size: 4
2021-08-14T13:32:41.937Z,1628947961.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:42.343Z,1628947962.343 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:42.343Z,1628947962.343 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:42.344Z,1628947962.344 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:42.345Z,1628947962.345 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:42.709Z,1628947962.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00A1D,186,80,80,97,FF
2021-08-14T13:32:42.710Z,1628947962.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:42.710Z,1628947962.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:42.711Z,1628947962.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:43.117Z,1628947963.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:43.946Z,1628947963.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133244.38*56

2021-08-14T13:32:44.783Z,1628947964.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:46.345Z,1628947966.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,97,FF
2021-08-14T13:32:46.345Z,1628947966.345 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,97,FF
2021-08-14T13:32:46.345Z,1628947966.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:32:47.606Z,1628947967.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:47.961Z,1628947967.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:47.961Z,1628947967.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:47.961Z,1628947967.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:47.962Z,1628947967.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:48.369Z,1628947968.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,97,FF
2021-08-14T13:32:48.369Z,1628947968.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:48.369Z,1628947968.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:48.371Z,1628947968.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:48.789Z,1628947968.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:49.202Z,1628947969.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00A8D,186,80,80,97,FF
2021-08-14T13:32:49.203Z,1628947969.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:49.621Z,1628947969.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133250.03*5B

2021-08-14T13:32:49.641Z,1628947969.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.559998 m, bearing: 340.002555 deg, deltaT: 10.180497 s, approachRate: 0.660085 m/s, LOS rate: -0.103894 deg/s, posRepo size: 4
2021-08-14T13:32:52.061Z,1628947972.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:52.405Z,1628947972.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:52.405Z,1628947972.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:52.405Z,1628947972.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:52.406Z,1628947972.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:52.833Z,1628947972.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00A8D,186,80,80,97,FF
2021-08-14T13:32:52.833Z,1628947972.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:52.833Z,1628947972.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:52.835Z,1628947972.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:53.265Z,1628947973.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:54.061Z,1628947974.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133254.50*59

2021-08-14T13:32:54.853Z,1628947974.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:56.445Z,1628947976.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,97,FF
2021-08-14T13:32:56.445Z,1628947976.445 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,97,FF
2021-08-14T13:32:56.445Z,1628947976.445 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:32:57.362Z,1628947977.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:32:57.662Z,1628947977.662 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:32:57.662Z,1628947977.662 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:32:57.662Z,1628947977.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:32:57.663Z,1628947977.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:32:58.089Z,1628947978.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,97,FF
2021-08-14T13:32:58.089Z,1628947978.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:32:58.089Z,1628947978.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:32:58.091Z,1628947978.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:32:58.468Z,1628947978.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:32:58.881Z,1628947978.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00AF9,186,80,80,9E,FF
2021-08-14T13:32:58.882Z,1628947978.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:32:59.309Z,1628947979.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133259.76*50

2021-08-14T13:32:59.378Z,1628947979.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.040009 m, bearing: 335.819802 deg, deltaT: 9.613638 s, approachRate: 0.674044 m/s, LOS rate: -0.435085 deg/s, posRepo size: 4
2021-08-14T13:33:01.733Z,1628947981.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:02.109Z,1628947982.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:02.109Z,1628947982.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:02.109Z,1628947982.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:02.110Z,1628947982.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:02.517Z,1628947982.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00AF9,186,80,80,9E,FF
2021-08-14T13:33:02.517Z,1628947982.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:02.517Z,1628947982.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:02.519Z,1628947982.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:02.922Z,1628947982.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:03.332Z,1628947983.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,00B2E,186,80,80,87,FF
2021-08-14T13:33:03.333Z,1628947983.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:03.757Z,1628947983.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133304.18*51

2021-08-14T13:33:03.781Z,1628947983.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.220001 m, bearing: 338.375112 deg, deltaT: 4.469228 s, approachRate: 0.711531 m/s, LOS rate: 0.571757 deg/s, posRepo size: 4
2021-08-14T13:33:06.178Z,1628947986.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:06.549Z,1628947986.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:06.549Z,1628947986.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:06.549Z,1628947986.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:06.550Z,1628947986.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:06.949Z,1628947986.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,00B2E,186,80,80,87,FF
2021-08-14T13:33:06.949Z,1628947986.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:06.950Z,1628947986.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:06.951Z,1628947986.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:07.390Z,1628947987.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:09.007Z,1628947989.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:10.597Z,1628947990.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,87,FF
2021-08-14T13:33:10.597Z,1628947990.597 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,87,FF
2021-08-14T13:33:10.597Z,1628947990.597 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:33:11.435Z,1628947991.435 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:33:11.843Z,1628947991.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:12.209Z,1628947992.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:12.209Z,1628947992.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:12.210Z,1628947992.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:12.210Z,1628947992.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:12.613Z,1628947992.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,87,FF
2021-08-14T13:33:12.613Z,1628947992.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:12.613Z,1628947992.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:12.615Z,1628947992.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:13.053Z,1628947993.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:13.422Z,1628947993.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,00BA0,186,80,80,83,FF
2021-08-14T13:33:13.423Z,1628947993.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:13.853Z,1628947993.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133314.28*53

2021-08-14T13:33:13.889Z,1628947993.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.059998 m, bearing: 336.100796 deg, deltaT: 10.082694 s, approachRate: 0.678390 m/s, LOS rate: -0.225566 deg/s, posRepo size: 4
2021-08-14T13:33:16.296Z,1628947996.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:16.649Z,1628947996.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:16.650Z,1628947996.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:16.650Z,1628947996.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:16.651Z,1628947996.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:17.089Z,1628947997.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,00BA0,186,80,80,83,FF
2021-08-14T13:33:17.089Z,1628947997.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:17.089Z,1628947997.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:17.091Z,1628947997.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:17.493Z,1628947997.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:17.917Z,1628947997.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,00BD0,187,80,80,82,FF
2021-08-14T13:33:17.917Z,1628947997.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:18.329Z,1628947998.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133318.76*54

2021-08-14T13:33:18.355Z,1628947998.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.940002 m, bearing: 338.061825 deg, deltaT: 4.455508 s, approachRate: 0.646392 m/s, LOS rate: 0.440136 deg/s, posRepo size: 4
2021-08-14T13:33:20.761Z,1628948000.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:21.130Z,1628948001.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:21.130Z,1628948001.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:21.130Z,1628948001.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:21.131Z,1628948001.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:21.521Z,1628948001.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,00BD0,187,80,80,82,FF
2021-08-14T13:33:21.521Z,1628948001.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:21.521Z,1628948001.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:21.523Z,1628948001.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:21.943Z,1628948001.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:22.773Z,1628948002.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133323.19*55

2021-08-14T13:33:23.620Z,1628948003.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:25.155Z,1628948005.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,82,FF
2021-08-14T13:33:25.155Z,1628948005.155 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,82,FF
2021-08-14T13:33:25.155Z,1628948005.155 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:33:26.409Z,1628948006.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:26.782Z,1628948006.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:26.782Z,1628948006.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:26.782Z,1628948006.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:26.785Z,1628948006.785 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:27.188Z,1628948007.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,82,FF
2021-08-14T13:33:27.189Z,1628948007.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:27.190Z,1628948007.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:27.197Z,1628948007.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:27.631Z,1628948007.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:28.017Z,1628948008.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,00C41,186,80,80,3C,FF
2021-08-14T13:33:28.018Z,1628948008.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:28.446Z,1628948008.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133328.86*58

2021-08-14T13:33:28.467Z,1628948008.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.720001 m, bearing: 338.912566 deg, deltaT: 10.156970 s, approachRate: 0.667522 m/s, LOS rate: 0.083759 deg/s, posRepo size: 4
2021-08-14T13:33:29.319Z,1628948009.319 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:33:30.866Z,1628948010.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:31.269Z,1628948011.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:31.269Z,1628948011.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:31.269Z,1628948011.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:31.270Z,1628948011.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:31.646Z,1628948011.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,00C41,186,80,80,3C,FF
2021-08-14T13:33:31.646Z,1628948011.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:31.647Z,1628948011.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:31.666Z,1628948011.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:32.121Z,1628948012.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:32.878Z,1628948012.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133333.33*5C

2021-08-14T13:33:33.698Z,1628948013.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:35.281Z,1628948015.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,3C,FF
2021-08-14T13:33:35.282Z,1628948015.282 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,3C,FF
2021-08-14T13:33:35.282Z,1628948015.282 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:33:36.531Z,1628948016.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:36.897Z,1628948016.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:36.897Z,1628948016.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:36.897Z,1628948016.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:36.898Z,1628948016.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:37.301Z,1628948017.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,3C,FF
2021-08-14T13:33:37.301Z,1628948017.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:37.301Z,1628948017.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:37.303Z,1628948017.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:37.705Z,1628948017.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:38.122Z,1628948018.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00CB1,186,80,80,3C,FF
2021-08-14T13:33:38.122Z,1628948018.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:38.553Z,1628948018.553 [Micromodem](INFO): Nmea in: $SNTTA,0.125111,,,,133338.98*4F

2021-08-14T13:33:38.584Z,1628948018.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.440002 m, bearing: 336.056126 deg, deltaT: 10.121551 s, approachRate: 0.663930 m/s, LOS rate: -0.282214 deg/s, posRepo size: 4
2021-08-14T13:33:40.955Z,1628948020.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:41.341Z,1628948021.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:41.341Z,1628948021.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:41.341Z,1628948021.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:41.342Z,1628948021.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:41.757Z,1628948021.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00CB1,186,80,80,3C,FF
2021-08-14T13:33:41.757Z,1628948021.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:41.757Z,1628948021.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:41.760Z,1628948021.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:42.153Z,1628948022.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:42.562Z,1628948022.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,00CE1,186,80,80,3C,FF
2021-08-14T13:33:42.562Z,1628948022.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:43.010Z,1628948023.010 [Micromodem](INFO): Nmea in: $SNTTA,0.120369,,,,133343.43*4D

2021-08-14T13:33:43.085Z,1628948023.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.320007 m, bearing: 338.114062 deg, deltaT: 4.400880 s, approachRate: 0.654416 m/s, LOS rate: 0.467619 deg/s, posRepo size: 4
2021-08-14T13:33:45.445Z,1628948025.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:45.789Z,1628948025.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:45.789Z,1628948025.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:45.789Z,1628948025.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:45.790Z,1628948025.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:46.195Z,1628948026.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,00CE1,186,80,80,3C,FF
2021-08-14T13:33:46.195Z,1628948026.195 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:46.195Z,1628948026.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:46.197Z,1628948026.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:46.597Z,1628948026.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:47.012Z,1628948027.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F99,000,00D1A,186,80,80,3C,FF
2021-08-14T13:33:47.013Z,1628948027.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:47.421Z,1628948027.421 [Micromodem](INFO): Nmea in: $SNTTA,0.399392,0.398655,,,133347.86*5E

2021-08-14T13:33:47.479Z,1628948027.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.740005 m, bearing: 331.985497 deg, deltaT: 4.493949 s, approachRate: 0.761023 m/s, LOS rate: -1.363737 deg/s, posRepo size: 4
2021-08-14T13:33:49.851Z,1628948029.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:50.229Z,1628948030.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:50.229Z,1628948030.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:50.229Z,1628948030.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:50.230Z,1628948030.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:50.641Z,1628948030.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F99,000,00D1A,186,80,80,3C,FF
2021-08-14T13:33:50.641Z,1628948030.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:50.642Z,1628948030.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:50.652Z,1628948030.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:51.070Z,1628948031.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:51.450Z,1628948031.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00D1A,186,80,80,3C,FF
2021-08-14T13:33:51.450Z,1628948031.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:51.869Z,1628948031.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133352.32*5A

2021-08-14T13:33:51.908Z,1628948031.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.740005 m, bearing: 336.685296 deg, deltaT: 4.407610 s, approachRate: 0.000000 m/s, LOS rate: 1.066292 deg/s, posRepo size: 4
2021-08-14T13:33:54.307Z,1628948034.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:54.673Z,1628948034.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:54.673Z,1628948034.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:54.673Z,1628948034.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:54.674Z,1628948034.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:55.109Z,1628948035.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00D1A,186,80,80,3C,FF
2021-08-14T13:33:55.109Z,1628948035.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:55.109Z,1628948035.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:55.111Z,1628948035.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:33:55.493Z,1628948035.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:33:56.303Z,1628948036.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00D7B,186,80,80,74,FF
2021-08-14T13:33:56.305Z,1628948036.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:33:56.313Z,1628948036.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133356.78*50

2021-08-14T13:33:56.735Z,1628948036.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.560013 m, bearing: 335.963809 deg, deltaT: 4.865743 s, approachRate: 1.196119 m/s, LOS rate: -0.148279 deg/s, posRepo size: 4
2021-08-14T13:33:59.149Z,1628948039.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:33:59.521Z,1628948039.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:33:59.521Z,1628948039.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:33:59.521Z,1628948039.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:33:59.522Z,1628948039.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:33:59.929Z,1628948039.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00D7B,186,80,80,74,FF
2021-08-14T13:33:59.929Z,1628948039.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:33:59.929Z,1628948039.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:33:59.931Z,1628948039.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:00.341Z,1628948040.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:01.191Z,1628948041.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133401.60*5C

2021-08-14T13:34:01.974Z,1628948041.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:03.565Z,1628948043.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,74,FF
2021-08-14T13:34:03.565Z,1628948043.565 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,74,FF
2021-08-14T13:34:03.565Z,1628948043.565 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:34:04.799Z,1628948044.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:05.192Z,1628948045.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:05.193Z,1628948045.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:05.193Z,1628948045.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:05.195Z,1628948045.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:05.577Z,1628948045.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,74,FF
2021-08-14T13:34:05.577Z,1628948045.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:05.578Z,1628948045.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:05.579Z,1628948045.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:05.996Z,1628948045.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:06.818Z,1628948046.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133407.25*5B

2021-08-14T13:34:07.301Z,1628948047.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:09.261Z,1628948049.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,74,FF
2021-08-14T13:34:09.261Z,1628948049.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,74,FF
2021-08-14T13:34:09.261Z,1628948049.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:34:10.094Z,1628948050.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:10.429Z,1628948050.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:10.429Z,1628948050.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:10.430Z,1628948050.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:10.431Z,1628948050.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:10.833Z,1628948050.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,74,FF
2021-08-14T13:34:10.833Z,1628948050.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:10.833Z,1628948050.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:10.835Z,1628948050.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:11.276Z,1628948051.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:12.089Z,1628948052.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00E33,187,80,80,8F,FF
2021-08-14T13:34:12.090Z,1628948052.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:12.101Z,1628948052.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133412.50*5D

2021-08-14T13:34:12.496Z,1628948052.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.600006 m, bearing: 334.221811 deg, deltaT: 15.795796 s, approachRate: 0.698920 m/s, LOS rate: -0.110282 deg/s, posRepo size: 4
2021-08-14T13:34:14.891Z,1628948054.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:15.285Z,1628948055.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:15.285Z,1628948055.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:15.285Z,1628948055.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:15.286Z,1628948055.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:15.677Z,1628948055.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,00E33,187,80,80,8F,FF
2021-08-14T13:34:15.677Z,1628948055.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:15.678Z,1628948055.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:15.679Z,1628948055.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:16.128Z,1628948056.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:16.490Z,1628948056.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00E33,187,80,80,8F,FF
2021-08-14T13:34:16.490Z,1628948056.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:16.933Z,1628948056.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133417.35*5B

2021-08-14T13:34:16.968Z,1628948056.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.600006 m, bearing: 334.038762 deg, deltaT: 4.336613 s, approachRate: 0.000000 m/s, LOS rate: -0.042210 deg/s, posRepo size: 4
2021-08-14T13:34:19.384Z,1628948059.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:19.725Z,1628948059.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:19.725Z,1628948059.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:19.726Z,1628948059.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:19.727Z,1628948059.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:20.125Z,1628948060.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,00E33,187,80,80,8F,FF
2021-08-14T13:34:20.125Z,1628948060.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:20.125Z,1628948060.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:20.127Z,1628948060.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:20.533Z,1628948060.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:21.354Z,1628948061.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00EA9,187,80,80,9B,FF
2021-08-14T13:34:21.354Z,1628948061.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:21.357Z,1628948061.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133421.79*56

2021-08-14T13:34:21.788Z,1628948061.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.679993 m, bearing: 334.566517 deg, deltaT: 4.947163 s, approachRate: 1.431121 m/s, LOS rate: 0.106678 deg/s, posRepo size: 4
2021-08-14T13:34:24.198Z,1628948064.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:24.577Z,1628948064.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:24.577Z,1628948064.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:24.578Z,1628948064.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:24.578Z,1628948064.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:24.981Z,1628948064.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00EA9,187,80,80,9B,FF
2021-08-14T13:34:24.981Z,1628948064.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:24.981Z,1628948064.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:24.983Z,1628948064.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:25.389Z,1628948065.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:26.233Z,1628948066.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00ED6,186,80,80,99,FF
2021-08-14T13:34:26.233Z,1628948066.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:26.236Z,1628948066.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133426.65*5C

2021-08-14T13:34:26.644Z,1628948066.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.380005 m, bearing: 335.232924 deg, deltaT: 4.829646 s, approachRate: 0.559050 m/s, LOS rate: 0.137983 deg/s, posRepo size: 4
2021-08-14T13:34:29.092Z,1628948069.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:29.437Z,1628948069.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:29.437Z,1628948069.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:29.437Z,1628948069.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:29.438Z,1628948069.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:29.833Z,1628948069.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00ED6,186,80,80,99,FF
2021-08-14T13:34:29.833Z,1628948069.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:29.833Z,1628948069.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:29.835Z,1628948069.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:30.245Z,1628948070.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:31.081Z,1628948071.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,00F0F,186,80,80,82,FF
2021-08-14T13:34:31.081Z,1628948071.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:31.084Z,1628948071.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133431.50*5C

2021-08-14T13:34:31.504Z,1628948071.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.799988 m, bearing: 335.535475 deg, deltaT: 4.819853 s, approachRate: 0.709562 m/s, LOS rate: 0.062772 deg/s, posRepo size: 4
2021-08-14T13:34:33.910Z,1628948073.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:34.281Z,1628948074.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:34.281Z,1628948074.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:34.281Z,1628948074.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:34.282Z,1628948074.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:34.682Z,1628948074.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,00F0F,186,80,80,82,FF
2021-08-14T13:34:34.682Z,1628948074.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:34.682Z,1628948074.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:34.684Z,1628948074.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:35.113Z,1628948075.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:35.913Z,1628948075.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00F4E,187,80,80,89,FF
2021-08-14T13:34:35.913Z,1628948075.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:35.916Z,1628948075.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133436.35*58

2021-08-14T13:34:36.347Z,1628948076.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.579987 m, bearing: 334.858821 deg, deltaT: 4.845681 s, approachRate: 0.780076 m/s, LOS rate: -0.139640 deg/s, posRepo size: 4
2021-08-14T13:34:38.739Z,1628948078.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:39.133Z,1628948079.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:39.133Z,1628948079.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:39.134Z,1628948079.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:39.135Z,1628948079.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:39.529Z,1628948079.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00F4E,187,80,80,89,FF
2021-08-14T13:34:39.529Z,1628948079.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:39.529Z,1628948079.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:39.531Z,1628948079.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:39.945Z,1628948079.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:40.775Z,1628948080.775 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133441.20*5C

2021-08-14T13:34:41.251Z,1628948081.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:43.188Z,1628948083.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,89,FF
2021-08-14T13:34:43.189Z,1628948083.189 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,89,FF
2021-08-14T13:34:43.190Z,1628948083.190 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:34:44.003Z,1628948084.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:44.373Z,1628948084.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:44.373Z,1628948084.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:44.373Z,1628948084.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:44.374Z,1628948084.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:44.793Z,1628948084.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,89,FF
2021-08-14T13:34:44.793Z,1628948084.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:44.794Z,1628948084.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:44.795Z,1628948084.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:45.229Z,1628948085.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:46.013Z,1628948086.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00FC1,186,80,80,84,FF
2021-08-14T13:34:46.014Z,1628948086.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:46.017Z,1628948086.017 [Micromodem](INFO): Nmea in: $SNTTA,0.138634,,,,133446.46*4E

2021-08-14T13:34:46.442Z,1628948086.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.479996 m, bearing: 333.322247 deg, deltaT: 10.132321 s, approachRate: 0.680990 m/s, LOS rate: -0.151651 deg/s, posRepo size: 4
2021-08-14T13:34:48.869Z,1628948088.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:49.278Z,1628948089.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:49.278Z,1628948089.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:49.278Z,1628948089.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:49.279Z,1628948089.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:49.645Z,1628948089.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00FC1,186,80,80,84,FF
2021-08-14T13:34:49.645Z,1628948089.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:49.645Z,1628948089.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:49.647Z,1628948089.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:50.067Z,1628948090.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:50.861Z,1628948090.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00FFC,186,80,80,A1,FF
2021-08-14T13:34:50.862Z,1628948090.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:50.865Z,1628948090.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133451.31*5D

2021-08-14T13:34:51.373Z,1628948091.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.019989 m, bearing: 332.727884 deg, deltaT: 4.819209 s, approachRate: 0.734559 m/s, LOS rate: -0.123332 deg/s, posRepo size: 4
2021-08-14T13:34:53.719Z,1628948093.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:54.101Z,1628948094.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:54.101Z,1628948094.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:54.101Z,1628948094.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:54.102Z,1628948094.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:54.492Z,1628948094.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00FFC,186,80,80,A1,FF
2021-08-14T13:34:54.493Z,1628948094.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:54.493Z,1628948094.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:54.500Z,1628948094.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:54.888Z,1628948094.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:34:55.709Z,1628948095.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,0102F,187,80,80,93,FF
2021-08-14T13:34:55.710Z,1628948095.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:34:55.717Z,1628948095.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133456.17*5E

2021-08-14T13:34:56.162Z,1628948096.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.079987 m, bearing: 331.955035 deg, deltaT: 4.856107 s, approachRate: 0.630134 m/s, LOS rate: -0.159150 deg/s, posRepo size: 4
2021-08-14T13:34:58.574Z,1628948098.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:34:58.929Z,1628948098.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:34:58.930Z,1628948098.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:34:58.930Z,1628948098.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:34:58.931Z,1628948098.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:34:59.331Z,1628948099.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,0102F,187,80,80,93,FF
2021-08-14T13:34:59.331Z,1628948099.331 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:34:59.331Z,1628948099.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:34:59.334Z,1628948099.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:34:59.745Z,1628948099.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:00.142Z,1628948100.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00437,186,80,80,83,FF
2021-08-14T13:35:00.143Z,1628948100.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:00.578Z,1628948100.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133501.00*5B

2021-08-14T13:35:00.600Z,1628948100.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 331.938861 deg, deltaT: 4.460364 s, approachRate: -41.216366 m/s, LOS rate: -0.003626 deg/s, posRepo size: 4
2021-08-14T13:35:00.994Z,1628948100.994 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:35:00.994Z,1628948100.994 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:35:00.994Z,1628948100.994 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:35:00.995Z,1628948100.995 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:35:00.995Z,1628948100.995 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:35:00.996Z,1628948100.996 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:35:01.411Z,1628948101.411 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:35:01.411Z,1628948101.411 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:35:01.412Z,1628948101.412 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:35:01.412Z,1628948101.412 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:35:02.990Z,1628948102.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:03.365Z,1628948103.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:03.365Z,1628948103.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:03.365Z,1628948103.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:03.366Z,1628948103.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:03.774Z,1628948103.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00437,186,80,80,83,FF
2021-08-14T13:35:03.774Z,1628948103.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:03.774Z,1628948103.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:03.777Z,1628948103.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:04.187Z,1628948104.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:05.009Z,1628948105.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,0109E,187,80,80,94,FF
2021-08-14T13:35:05.010Z,1628948105.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:05.039Z,1628948105.039 [Micromodem](INFO): Nmea in: $SNTTA,0.149246,,,,133505.44*4D

2021-08-14T13:35:05.129Z,1628948105.129 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:35:05.460Z,1628948105.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.739990 m, bearing: 332.289413 deg, deltaT: 4.902682 s, approachRate: 38.856281 m/s, LOS rate: 0.071502 deg/s, posRepo size: 4
2021-08-14T13:35:05.829Z,1628948105.829 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:35:05.830Z,1628948105.830 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:35:05.830Z,1628948105.830 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:35:05.831Z,1628948105.831 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:35:05.831Z,1628948105.831 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:35:05.831Z,1628948105.831 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:35:06.232Z,1628948106.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:35:06.232Z,1628948106.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:35:06.232Z,1628948106.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:35:06.232Z,1628948106.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:35:07.859Z,1628948107.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:08.221Z,1628948108.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:08.221Z,1628948108.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:08.221Z,1628948108.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:08.222Z,1628948108.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:08.623Z,1628948108.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,0109E,187,80,80,94,FF
2021-08-14T13:35:08.623Z,1628948108.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:08.623Z,1628948108.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:08.625Z,1628948108.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:09.057Z,1628948109.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:09.431Z,1628948109.431 [Micromodem](INFO): Nmea in: $SNTTA,0.184026,0.183726,,,133510.29*50

2021-08-14T13:35:10.675Z,1628948110.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:11.056Z,1628948111.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,050DC,186,80,80,89,FF
2021-08-14T13:35:11.058Z,1628948111.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:11.493Z,1628948111.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1204.500000 m, bearing: 333.054504 deg, deltaT: 5.983736 s, approachRate: 164.907013 m/s, LOS rate: 0.127862 deg/s, posRepo size: 4
2021-08-14T13:35:11.493Z,1628948111.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1204.50 m. Resuming terminal guidance.
2021-08-14T13:35:11.493Z,1628948111.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T13:35:13.891Z,1628948113.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:14.277Z,1628948114.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:14.278Z,1628948114.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:14.278Z,1628948114.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:14.279Z,1628948114.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:14.689Z,1628948114.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,050DC,186,80,80,89,FF
2021-08-14T13:35:14.689Z,1628948114.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:14.689Z,1628948114.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:14.691Z,1628948114.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:15.119Z,1628948115.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:15.905Z,1628948115.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,01117,186,80,80,8B,FF
2021-08-14T13:35:15.905Z,1628948115.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:15.909Z,1628948115.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133516.36*58

2021-08-14T13:35:16.347Z,1628948116.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.999985 m, bearing: 331.806355 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T13:35:16.347Z,1628948116.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 331.806355deg and heading rate command to 0 deg/s.
2021-08-14T13:35:18.757Z,1628948118.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:19.125Z,1628948119.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:19.125Z,1628948119.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:19.125Z,1628948119.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:19.126Z,1628948119.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:19.525Z,1628948119.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,01117,186,80,80,8B,FF
2021-08-14T13:35:19.525Z,1628948119.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:19.526Z,1628948119.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:19.527Z,1628948119.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:19.929Z,1628948119.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:20.762Z,1628948120.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,0114F,186,80,80,8B,FF
2021-08-14T13:35:20.762Z,1628948120.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:20.786Z,1628948120.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133521.19*51

2021-08-14T13:35:21.247Z,1628948121.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.359985 m, bearing: 336.119182 deg, deltaT: 4.901454 s, approachRate: 0.685511 m/s, LOS rate: 0.879908 deg/s, posRepo size: 2
2021-08-14T13:35:21.254Z,1628948121.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.359985 m,
      bearing: 336.119182 deg,
      approachRate: 0.685511 m/s,
      LOS rate: 0.879908 deg/s,
      cmd update: 2.639723 deg/s,
      cmd heading: 331.806355 deg,
      new cmd heading: 331.806355 deg.

2021-08-14T13:35:23.631Z,1628948123.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:23.973Z,1628948123.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:23.973Z,1628948123.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:23.974Z,1628948123.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:23.975Z,1628948123.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:24.385Z,1628948124.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,0114F,186,80,80,8B,FF
2021-08-14T13:35:24.385Z,1628948124.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:24.385Z,1628948124.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:24.387Z,1628948124.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:24.786Z,1628948124.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:25.581Z,1628948125.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,0117C,186,80,80,8A,FF
2021-08-14T13:35:25.582Z,1628948125.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:25.585Z,1628948125.585 [Micromodem](INFO): Nmea in: $SNTTA,0.155857,0.344288,,,133526.05*51

2021-08-14T13:35:26.080Z,1628948126.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.059998 m, bearing: 348.162172 deg, deltaT: 4.846803 s, approachRate: 0.557071 m/s, LOS rate: 2.484728 deg/s, posRepo size: 3
2021-08-14T13:35:26.082Z,1628948126.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.059998 m,
      bearing: 348.162172 deg,
      approachRate: 0.557071 m/s,
      LOS rate: 2.484728 deg/s,
      cmd update: 7.454185 deg/s,
      cmd heading: 344.600601 deg,
      new cmd heading: 345.683434 deg.

2021-08-14T13:35:28.480Z,1628948128.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:28.821Z,1628948128.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:28.821Z,1628948128.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:28.821Z,1628948128.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:28.822Z,1628948128.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:29.269Z,1628948129.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,0117C,186,80,80,8A,FF
2021-08-14T13:35:29.269Z,1628948129.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:29.269Z,1628948129.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:29.271Z,1628948129.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:29.685Z,1628948129.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:30.513Z,1628948130.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,011BB,184,80,80,31,FF
2021-08-14T13:35:30.513Z,1628948130.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:30.516Z,1628948130.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133530.94*54

2021-08-14T13:35:30.939Z,1628948130.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.839981 m, bearing: 349.829367 deg, deltaT: 4.858136 s, approachRate: 0.778073 m/s, LOS rate: 0.343176 deg/s, posRepo size: 4
2021-08-14T13:35:30.943Z,1628948130.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.839981 m,
      bearing: 349.829367 deg,
      approachRate: 0.778073 m/s,
      LOS rate: 0.343176 deg/s,
      cmd update: 1.029527 deg/s,
      cmd heading: 20.843370 deg,
      new cmd heading: 23.884395 deg.

2021-08-14T13:35:33.378Z,1628948133.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:33.717Z,1628948133.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:33.718Z,1628948133.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:33.718Z,1628948133.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:33.719Z,1628948133.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:34.113Z,1628948134.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,011BB,184,80,80,31,FF
2021-08-14T13:35:34.113Z,1628948134.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:34.113Z,1628948134.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:34.115Z,1628948134.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:34.529Z,1628948134.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:35.338Z,1628948135.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,011E9,187,80,80,9C,FF
2021-08-14T13:35:35.338Z,1628948135.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:35.341Z,1628948135.341 [Micromodem](INFO): Nmea in: $SNTTA,0.478510,0.479198,,,133535.78*56

2021-08-14T13:35:35.811Z,1628948135.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.600006 m, bearing: 19.512725 deg, deltaT: 4.920545 s, approachRate: 0.560919 m/s, LOS rate: 6.032536 deg/s, posRepo size: 4
2021-08-14T13:35:35.831Z,1628948135.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.600006 m,
      bearing: 19.512725 deg,
      approachRate: 0.560919 m/s,
      LOS rate: 6.032536 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 25.905118 deg,
      new cmd heading: 26.279117 deg.

2021-08-14T13:35:38.202Z,1628948138.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:38.557Z,1628948138.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:38.557Z,1628948138.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:38.557Z,1628948138.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:38.558Z,1628948138.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:38.969Z,1628948138.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,011E9,187,80,80,9C,FF
2021-08-14T13:35:38.969Z,1628948138.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:38.969Z,1628948138.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:38.971Z,1628948138.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:39.408Z,1628948139.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:40.221Z,1628948140.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAF,000,01209,186,80,80,96,FF
2021-08-14T13:35:40.221Z,1628948140.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:40.224Z,1628948140.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133540.64*5C

2021-08-14T13:35:40.643Z,1628948140.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.519989 m, bearing: 40.503988 deg, deltaT: 4.826754 s, approachRate: 0.397779 m/s, LOS rate: 4.348940 deg/s, posRepo size: 4
2021-08-14T13:35:40.646Z,1628948140.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.519989 m,
      bearing: 40.503988 deg,
      approachRate: 0.397779 m/s,
      LOS rate: 4.348940 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 83.852881 deg,
      new cmd heading: 88.248265 deg.

2021-08-14T13:35:43.089Z,1628948143.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:43.429Z,1628948143.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:43.429Z,1628948143.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:43.429Z,1628948143.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:43.430Z,1628948143.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:43.837Z,1628948143.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAF,000,01209,186,80,80,96,FF
2021-08-14T13:35:43.838Z,1628948143.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:43.838Z,1628948143.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:43.839Z,1628948143.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:44.258Z,1628948144.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:44.645Z,1628948144.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,001DB,186,80,80,45,FF
2021-08-14T13:35:44.645Z,1628948144.645 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-14T13:35:45.094Z,1628948145.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133545.51*5F

2021-08-14T13:35:45.893Z,1628948145.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:48.710Z,1628948148.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:49.112Z,1628948149.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:49.113Z,1628948149.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:49.113Z,1628948149.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:49.114Z,1628948149.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:49.489Z,1628948149.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,001DB,186,80,80,45,FF
2021-08-14T13:35:49.489Z,1628948149.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:49.489Z,1628948149.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:49.491Z,1628948149.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:49.896Z,1628948149.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:50.311Z,1628948150.311 [Micromodem](INFO): Nmea in: $SNTTA,0.162481,0.159875,,,133551.16*56

2021-08-14T13:35:50.710Z,1628948150.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD6,000,0121B,188,80,80,9A,FF
2021-08-14T13:35:50.710Z,1628948150.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:51.154Z,1628948151.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.599976 m, bearing: 108.113958 deg, deltaT: 10.448451 s, approachRate: 0.103363 m/s, LOS rate: 6.470812 deg/s, posRepo size: 4
2021-08-14T13:35:51.157Z,1628948151.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.599976 m,
      bearing: 108.113958 deg,
      approachRate: 0.103363 m/s,
      LOS rate: 6.470812 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.256016 deg,
      new cmd heading: 214.379692 deg.

2021-08-14T13:35:53.254Z,1628948153.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:53.549Z,1628948153.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:53.549Z,1628948153.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:53.549Z,1628948153.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:53.550Z,1628948153.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:53.942Z,1628948153.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD6,000,0121B,188,80,80,9A,FF
2021-08-14T13:35:53.942Z,1628948153.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:53.942Z,1628948153.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:53.944Z,1628948153.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:54.348Z,1628948154.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:35:55.220Z,1628948155.220 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0120C,18A,80,80,B2,FF
2021-08-14T13:35:55.221Z,1628948155.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:35:55.223Z,1628948155.223 [Micromodem](INFO): Nmea in: $SNTTA,0.161970,,,,1,0.20.0.39330*7C

2021-08-14T13:35:55.224Z,1628948155.224 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,0.161970,,,,1,0.20.0.39330*7C
 expected 6D
2021-08-14T13:35:55.592Z,1628948155.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.699997 m, bearing: 149.893105 deg, deltaT: 4.562371 s, approachRate: -0.197261 m/s, LOS rate: 9.157332 deg/s, posRepo size: 4
2021-08-14T13:35:55.594Z,1628948155.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.699997 m,
      bearing: 149.893105 deg,
      approachRate: -0.197261 m/s,
      LOS rate: 9.157332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 263.956578 deg,
      new cmd heading: 267.627474 deg.

2021-08-14T13:35:57.613Z,1628948157.613 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T13:35:57.998Z,1628948157.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:35:58.381Z,1628948158.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:35:58.381Z,1628948158.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:35:58.381Z,1628948158.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:35:58.382Z,1628948158.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:35:58.789Z,1628948158.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0120C,18A,80,80,B2,FF
2021-08-14T13:35:58.789Z,1628948158.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:35:58.789Z,1628948158.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:35:58.791Z,1628948158.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:35:59.229Z,1628948159.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:00.010Z,1628948160.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9B,000,011EE,189,80,80,9D,FF
2021-08-14T13:36:00.010Z,1628948160.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:00.013Z,1628948160.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133600.46*5B

2021-08-14T13:36:00.460Z,1628948160.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.899979 m, bearing: 145.626463 deg, deltaT: 4.808917 s, approachRate: -0.374308 m/s, LOS rate: -0.887235 deg/s, posRepo size: 4
2021-08-14T13:36:00.462Z,1628948160.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.899979 m,
      bearing: 145.626463 deg,
      approachRate: -0.374308 m/s,
      LOS rate: -0.887235 deg/s,
      cmd update: -2.661706 deg/s,
      cmd heading: 321.613459 deg,
      new cmd heading: 325.854343 deg.

2021-08-14T13:36:02.851Z,1628948162.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:03.269Z,1628948163.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:03.269Z,1628948163.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:03.269Z,1628948163.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:03.270Z,1628948163.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:03.336Z,1628948163.336 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T13:36:03.336Z,1628948163.336 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T13:36:03.336Z,1628948163.336 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T13:36:03.521Z,1628948163.521 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T13:36:03.641Z,1628948163.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9B,000,011EE,189,80,80,9D,FF
2021-08-14T13:36:03.641Z,1628948163.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:03.641Z,1628948163.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:03.643Z,1628948163.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:03.725Z,1628948163.725 [RDI_Pathfinder](INFO): Powering down
2021-08-14T13:36:04.067Z,1628948164.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:04.588Z,1628948164.588 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T13:36:04.588Z,1628948164.588 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T13:36:04.865Z,1628948164.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,011CA,189,80,80,88,FF
2021-08-14T13:36:04.865Z,1628948164.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:04.868Z,1628948164.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133605.31*5E

2021-08-14T13:36:05.298Z,1628948165.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.740005 m, bearing: 151.459062 deg, deltaT: 4.820565 s, approachRate: -0.448075 m/s, LOS rate: 1.209941 deg/s, posRepo size: 4
2021-08-14T13:36:05.300Z,1628948165.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.740005 m,
      bearing: 151.459062 deg,
      approachRate: -0.448075 m/s,
      LOS rate: 1.209941 deg/s,
      cmd update: 3.629823 deg/s,
      cmd heading: 308.761344 deg,
      new cmd heading: 307.752693 deg.

2021-08-14T13:36:07.694Z,1628948167.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:08.101Z,1628948168.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:08.101Z,1628948168.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:08.101Z,1628948168.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:08.102Z,1628948168.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:08.474Z,1628948168.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,011CA,189,80,80,88,FF
2021-08-14T13:36:08.474Z,1628948168.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:08.474Z,1628948168.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:08.476Z,1628948168.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:08.893Z,1628948168.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:09.709Z,1628948169.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,011B4,189,80,80,97,FF
2021-08-14T13:36:09.709Z,1628948169.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:09.736Z,1628948169.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133610.15*5C

2021-08-14T13:36:10.146Z,1628948170.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.419998 m, bearing: 132.716258 deg, deltaT: 4.836257 s, approachRate: -0.272940 m/s, LOS rate: -3.875477 deg/s, posRepo size: 4
2021-08-14T13:36:10.148Z,1628948170.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.419998 m,
      bearing: 132.716258 deg,
      approachRate: -0.272940 m/s,
      LOS rate: -3.875477 deg/s,
      cmd update: -11.626432 deg/s,
      cmd heading: 326.309512 deg,
      new cmd heading: 327.734893 deg.

2021-08-14T13:36:12.562Z,1628948172.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:12.925Z,1628948172.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:12.925Z,1628948172.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:12.925Z,1628948172.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:12.926Z,1628948172.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:13.329Z,1628948173.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,011B4,189,80,80,97,FF
2021-08-14T13:36:13.329Z,1628948173.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:13.329Z,1628948173.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:13.331Z,1628948173.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:13.733Z,1628948173.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:14.557Z,1628948174.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,011AC,186,80,80,96,FF
2021-08-14T13:36:14.557Z,1628948174.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:14.560Z,1628948174.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133615.00*5D

2021-08-14T13:36:14.969Z,1628948174.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.939987 m, bearing: 74.381122 deg, deltaT: 4.855716 s, approachRate: -0.098855 m/s, LOS rate: -12.013704 deg/s, posRepo size: 4
2021-08-14T13:36:14.970Z,1628948174.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.013704 deg/s. Setting heading cmd to target bearing of 74.381122deg and heading rate command to 0 deg/s.
2021-08-14T13:36:17.397Z,1628948177.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:17.766Z,1628948177.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:17.766Z,1628948177.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:17.767Z,1628948177.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:17.767Z,1628948177.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:18.177Z,1628948178.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,011AC,186,80,80,96,FF
2021-08-14T13:36:18.177Z,1628948178.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:18.177Z,1628948178.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:18.179Z,1628948178.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:18.581Z,1628948178.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:19.038Z,1628948179.038 [Micromodem](INFO): Nmea in: $SNTTA,0.317685,0.316541,,,133619.85*56

2021-08-14T13:36:19.394Z,1628948179.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C34,000,011BB,189,80,80,94,FF
2021-08-14T13:36:19.394Z,1628948179.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:19.839Z,1628948179.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.839981 m, bearing: 82.301457 deg, deltaT: 4.800291 s, approachRate: 0.187487 m/s, LOS rate: 1.649970 deg/s, posRepo size: 4
2021-08-14T13:36:19.841Z,1628948179.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.839981 m,
      bearing: 82.301457 deg,
      approachRate: 0.187487 m/s,
      LOS rate: 1.649970 deg/s,
      cmd update: 4.949909 deg/s,
      cmd heading: 74.381122 deg,
      new cmd heading: 74.381122 deg.

2021-08-14T13:36:22.259Z,1628948182.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:22.617Z,1628948182.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:22.617Z,1628948182.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:22.617Z,1628948182.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:22.618Z,1628948182.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:23.044Z,1628948183.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C34,000,011BB,189,80,80,94,FF
2021-08-14T13:36:23.045Z,1628948183.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:23.045Z,1628948183.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:23.051Z,1628948183.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:23.428Z,1628948183.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:24.247Z,1628948184.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2F,000,011D7,189,80,80,6B,FF
2021-08-14T13:36:24.248Z,1628948184.248 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:24.253Z,1628948184.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133624.72*5A

2021-08-14T13:36:24.680Z,1628948184.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.519989 m, bearing: 63.888777 deg, deltaT: 4.899473 s, approachRate: 0.342896 m/s, LOS rate: -3.758094 deg/s, posRepo size: 4
2021-08-14T13:36:24.682Z,1628948184.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.519989 m,
      bearing: 63.888777 deg,
      approachRate: 0.342896 m/s,
      LOS rate: -3.758094 deg/s,
      cmd update: -11.274282 deg/s,
      cmd heading: 98.593772 deg,
      new cmd heading: 100.457195 deg.

2021-08-14T13:36:27.146Z,1628948187.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:27.469Z,1628948187.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:27.470Z,1628948187.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:27.471Z,1628948187.471 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:27.492Z,1628948187.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:27.878Z,1628948187.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2F,000,011D7,189,80,80,6B,FF
2021-08-14T13:36:27.878Z,1628948187.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:27.879Z,1628948187.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:27.881Z,1628948187.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:28.280Z,1628948188.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:29.114Z,1628948189.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133629.55*52

2021-08-14T13:36:29.907Z,1628948189.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:31.505Z,1628948191.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,6B,FF
2021-08-14T13:36:31.505Z,1628948191.505 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,6B,FF
2021-08-14T13:36:31.505Z,1628948191.505 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:36:32.776Z,1628948192.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:33.121Z,1628948193.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:33.121Z,1628948193.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:33.121Z,1628948193.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:33.122Z,1628948193.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:33.529Z,1628948193.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,6B,FF
2021-08-14T13:36:33.529Z,1628948193.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:33.529Z,1628948193.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:33.532Z,1628948193.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:33.941Z,1628948193.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:34.779Z,1628948194.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D15,000,01235,189,80,80,67,FF
2021-08-14T13:36:34.780Z,1628948194.780 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:34.784Z,1628948194.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133635.20*5D

2021-08-14T13:36:35.213Z,1628948195.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.160004 m, bearing: 56.191567 deg, deltaT: 10.501274 s, approachRate: 0.537079 m/s, LOS rate: -0.732979 deg/s, posRepo size: 4
2021-08-14T13:36:35.215Z,1628948195.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.160004 m,
      bearing: 56.191567 deg,
      approachRate: 0.537079 m/s,
      LOS rate: -0.732979 deg/s,
      cmd update: -2.198936 deg/s,
      cmd heading: 340.159146 deg,
      new cmd heading: 335.597222 deg.

2021-08-14T13:36:37.619Z,1628948197.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:37.983Z,1628948197.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:37.983Z,1628948197.983 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:37.983Z,1628948197.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:37.984Z,1628948197.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:38.386Z,1628948198.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D15,000,01235,189,80,80,67,FF
2021-08-14T13:36:38.386Z,1628948198.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:38.386Z,1628948198.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:38.402Z,1628948198.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:38.797Z,1628948198.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:39.587Z,1628948199.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,01254,187,80,80,A1,FF
2021-08-14T13:36:39.588Z,1628948199.588 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:39.604Z,1628948199.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133640.07*5A

2021-08-14T13:36:40.074Z,1628948200.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.020004 m, bearing: 40.603398 deg, deltaT: 4.835749 s, approachRate: 0.384635 m/s, LOS rate: -3.223527 deg/s, posRepo size: 4
2021-08-14T13:36:40.080Z,1628948200.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.020004 m,
      bearing: 40.603398 deg,
      approachRate: 0.384635 m/s,
      LOS rate: -3.223527 deg/s,
      cmd update: -9.670581 deg/s,
      cmd heading: 329.525299 deg,
      new cmd heading: 328.579018 deg.

2021-08-14T13:36:42.499Z,1628948202.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:42.825Z,1628948202.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:42.825Z,1628948202.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:42.825Z,1628948202.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:42.826Z,1628948202.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:43.221Z,1628948203.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,01254,187,80,80,A1,FF
2021-08-14T13:36:43.221Z,1628948203.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:43.221Z,1628948203.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:43.223Z,1628948203.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:43.630Z,1628948203.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:44.457Z,1628948204.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,01278,186,80,80,90,FF
2021-08-14T13:36:44.457Z,1628948204.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:44.461Z,1628948204.461 [Micromodem](INFO): Nmea in: $SNTTA,0.166039,,,,133644.89*4D

2021-08-14T13:36:44.890Z,1628948204.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.179977 m, bearing: 26.133788 deg, deltaT: 4.828624 s, approachRate: 0.447327 m/s, LOS rate: -2.996632 deg/s, posRepo size: 4
2021-08-14T13:36:44.894Z,1628948204.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.179977 m,
      bearing: 26.133788 deg,
      approachRate: 0.447327 m/s,
      LOS rate: -2.996632 deg/s,
      cmd update: -8.989897 deg/s,
      cmd heading: 282.793307 deg,
      new cmd heading: 278.800450 deg.

2021-08-14T13:36:47.363Z,1628948207.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:47.665Z,1628948207.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:47.665Z,1628948207.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:47.665Z,1628948207.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:47.666Z,1628948207.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:48.100Z,1628948208.100 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,01278,186,80,80,90,FF
2021-08-14T13:36:48.101Z,1628948208.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:48.101Z,1628948208.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:48.103Z,1628948208.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:48.509Z,1628948208.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:49.321Z,1628948209.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,012A9,182,80,80,7D,FF
2021-08-14T13:36:49.321Z,1628948209.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:49.349Z,1628948209.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133649.77*54

2021-08-14T13:36:49.778Z,1628948209.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.119995 m, bearing: 346.516752 deg, deltaT: 4.937695 s, approachRate: 0.595423 m/s, LOS rate: -8.023385 deg/s, posRepo size: 4
2021-08-14T13:36:49.782Z,1628948209.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.119995 m,
      bearing: 346.516752 deg,
      approachRate: 0.595423 m/s,
      LOS rate: -8.023385 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.400082 deg,
      new cmd heading: 235.154748 deg.

2021-08-14T13:36:52.168Z,1628948212.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:52.553Z,1628948212.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:52.553Z,1628948212.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:52.553Z,1628948212.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:52.554Z,1628948212.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:52.952Z,1628948212.952 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,012A9,182,80,80,7D,FF
2021-08-14T13:36:52.953Z,1628948212.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:52.953Z,1628948212.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:52.960Z,1628948212.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:53.345Z,1628948213.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:54.159Z,1628948214.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,012E2,18A,80,80,52,FF
2021-08-14T13:36:54.160Z,1628948214.160 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:54.163Z,1628948214.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133654.63*5D

2021-08-14T13:36:54.598Z,1628948214.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.539993 m, bearing: 297.538531 deg, deltaT: 4.823271 s, approachRate: 0.709062 m/s, LOS rate: -10.154565 deg/s, posRepo size: 4
2021-08-14T13:36:54.600Z,1628948214.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.539993 m,
      bearing: 297.538531 deg,
      approachRate: 0.709062 m/s,
      LOS rate: -10.154565 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 180.570281 deg,
      new cmd heading: 176.196161 deg.

2021-08-14T13:36:57.122Z,1628948217.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:36:57.381Z,1628948217.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:36:57.381Z,1628948217.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:36:57.381Z,1628948217.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:36:57.382Z,1628948217.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:36:57.797Z,1628948217.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,012E2,18A,80,80,52,FF
2021-08-14T13:36:57.797Z,1628948217.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:36:57.797Z,1628948217.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:36:57.799Z,1628948217.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:36:58.189Z,1628948218.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:36:59.057Z,1628948219.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,450,000,01311,189,80,80,3E,FF
2021-08-14T13:36:59.058Z,1628948219.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:36:59.066Z,1628948219.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133659.47*56

2021-08-14T13:36:59.435Z,1628948219.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.360001 m, bearing: 254.078775 deg, deltaT: 4.917026 s, approachRate: 0.573519 m/s, LOS rate: -8.838627 deg/s, posRepo size: 4
2021-08-14T13:36:59.438Z,1628948219.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.360001 m,
      bearing: 254.078775 deg,
      approachRate: 0.573519 m/s,
      LOS rate: -8.838627 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 121.572555 deg,
      new cmd heading: 118.146927 deg.

2021-08-14T13:37:01.883Z,1628948221.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:02.233Z,1628948222.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:02.234Z,1628948222.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:02.234Z,1628948222.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:02.235Z,1628948222.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:02.633Z,1628948222.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
450,000,01311,189,80,80,3E,FF
2021-08-14T13:37:02.633Z,1628948222.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:02.633Z,1628948222.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:02.635Z,1628948222.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:03.083Z,1628948223.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:03.853Z,1628948223.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,0133F,188,80,80,92,FF
2021-08-14T13:37:03.853Z,1628948223.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:04.303Z,1628948224.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.119995 m, bearing: 252.757352 deg, deltaT: 4.743744 s, approachRate: 0.581818 m/s, LOS rate: -0.278561 deg/s, posRepo size: 4
2021-08-14T13:37:04.305Z,1628948224.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.119995 m,
      bearing: 252.757352 deg,
      approachRate: 0.581818 m/s,
      LOS rate: -0.278561 deg/s,
      cmd update: -0.835684 deg/s,
      cmd heading: 64.639921 deg,
      new cmd heading: 59.734621 deg.

2021-08-14T13:37:06.695Z,1628948226.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:07.097Z,1628948227.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:07.097Z,1628948227.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:07.097Z,1628948227.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:07.098Z,1628948227.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:07.489Z,1628948227.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,0133F,188,80,80,92,FF
2021-08-14T13:37:07.490Z,1628948227.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:07.490Z,1628948227.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:07.491Z,1628948227.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:07.893Z,1628948227.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:08.708Z,1628948228.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,0136D,18A,80,80,82,FF
2021-08-14T13:37:08.709Z,1628948228.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:08.711Z,1628948228.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133709.17*57

2021-08-14T13:37:08.825Z,1628948228.825 [CTD_Seabird](ERROR): Failed to parse device response: 1,4.77462,4754.77
2021-08-14T13:37:09.191Z,1628948229.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.879974 m, bearing: 339.685060 deg, deltaT: 4.904468 s, approachRate: 0.562748 m/s, LOS rate: 17.724187 deg/s, posRepo size: 4
2021-08-14T13:37:09.192Z,1628948229.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.724187 deg/s. Setting heading cmd to target bearing of 339.685060deg and heading rate command to 0 deg/s.
2021-08-14T13:37:11.549Z,1628948231.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:11.941Z,1628948231.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:11.941Z,1628948231.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:11.942Z,1628948231.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:11.942Z,1628948231.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:12.333Z,1628948232.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,0136D,18A,80,80,82,FF
2021-08-14T13:37:12.333Z,1628948232.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:12.333Z,1628948232.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:12.335Z,1628948232.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:12.745Z,1628948232.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:13.577Z,1628948233.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,0139C,188,80,80,60,FF
2021-08-14T13:37:13.577Z,1628948233.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:13.599Z,1628948233.599 [Micromodem](INFO): Nmea in: $SNTTA,,0.239486,,,133714.00*41

2021-08-14T13:37:13.983Z,1628948233.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.699982 m, bearing: 299.354487 deg, deltaT: 4.853504 s, approachRate: 0.581025 m/s, LOS rate: -8.309578 deg/s, posRepo size: 4
2021-08-14T13:37:13.986Z,1628948233.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.699982 m,
      bearing: 299.354487 deg,
      approachRate: 0.581025 m/s,
      LOS rate: -8.309578 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 339.685060 deg,
      new cmd heading: 339.685060 deg.

2021-08-14T13:37:16.426Z,1628948236.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:16.786Z,1628948236.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:16.786Z,1628948236.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:16.786Z,1628948236.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:16.787Z,1628948236.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:17.177Z,1628948237.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,0139C,188,80,80,60,FF
2021-08-14T13:37:17.177Z,1628948237.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:17.177Z,1628948237.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:17.179Z,1628948237.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:17.597Z,1628948237.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:18.414Z,1628948238.414 [Micromodem](INFO): Nmea in: $SNTTA,0.189552,,,,133718.85*40

2021-08-14T13:37:19.269Z,1628948239.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:20.825Z,1628948240.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,60,FF
2021-08-14T13:37:20.825Z,1628948240.825 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,60,FF
2021-08-14T13:37:20.825Z,1628948240.825 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:37:22.082Z,1628948242.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:22.429Z,1628948242.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:22.429Z,1628948242.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:22.429Z,1628948242.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:22.430Z,1628948242.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:22.833Z,1628948242.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,60,FF
2021-08-14T13:37:22.833Z,1628948242.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:22.833Z,1628948242.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:22.835Z,1628948242.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:23.248Z,1628948243.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:24.081Z,1628948244.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,0140D,187,80,80,5E,FF
2021-08-14T13:37:24.081Z,1628948244.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:24.084Z,1628948244.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133724.50*5B

2021-08-14T13:37:24.492Z,1628948244.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.479980 m, bearing: 348.669054 deg, deltaT: 10.500219 s, approachRate: 0.645701 m/s, LOS rate: 4.696527 deg/s, posRepo size: 4
2021-08-14T13:37:24.494Z,1628948244.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.479980 m,
      bearing: 348.669054 deg,
      approachRate: 0.645701 m/s,
      LOS rate: 4.696527 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 213.804746 deg,
      new cmd heading: 209.662250 deg.

2021-08-14T13:37:26.899Z,1628948246.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:27.285Z,1628948247.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:27.285Z,1628948247.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:27.286Z,1628948247.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:27.286Z,1628948247.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:27.681Z,1628948247.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,0140D,187,80,80,5E,FF
2021-08-14T13:37:27.681Z,1628948247.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:27.681Z,1628948247.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:27.683Z,1628948247.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:28.105Z,1628948248.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:28.949Z,1628948248.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,01445,186,80,80,4C,FF
2021-08-14T13:37:28.950Z,1628948248.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:28.968Z,1628948248.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133729.35*55

2021-08-14T13:37:29.365Z,1628948249.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.839996 m, bearing: 344.296968 deg, deltaT: 4.924284 s, approachRate: 0.682336 m/s, LOS rate: -0.887862 deg/s, posRepo size: 4
2021-08-14T13:37:29.367Z,1628948249.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.839996 m,
      bearing: 344.296968 deg,
      approachRate: 0.682336 m/s,
      LOS rate: -0.887862 deg/s,
      cmd update: -2.663587 deg/s,
      cmd heading: 272.918764 deg,
      new cmd heading: 276.421072 deg.

2021-08-14T13:37:31.771Z,1628948251.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:32.137Z,1628948252.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:32.137Z,1628948252.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:32.137Z,1628948252.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:32.138Z,1628948252.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:32.543Z,1628948252.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,01445,186,80,80,4C,FF
2021-08-14T13:37:32.543Z,1628948252.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:32.543Z,1628948252.543 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:32.549Z,1628948252.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:33.001Z,1628948253.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:33.778Z,1628948253.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B5,000,01475,189,80,80,62,FF
2021-08-14T13:37:33.778Z,1628948253.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:33.782Z,1628948253.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133734.22*5F

2021-08-14T13:37:34.206Z,1628948254.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.720001 m, bearing: 256.667772 deg, deltaT: 4.738889 s, approachRate: 0.607738 m/s, LOS rate: -18.491506 deg/s, posRepo size: 4
2021-08-14T13:37:34.207Z,1628948254.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.491506 deg/s. Setting heading cmd to target bearing of 256.667772deg and heading rate command to 0 deg/s.
2021-08-14T13:37:36.607Z,1628948256.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:37.013Z,1628948257.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:37.013Z,1628948257.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:37.013Z,1628948257.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:37.014Z,1628948257.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:37.389Z,1628948257.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B5,000,01475,189,80,80,62,FF
2021-08-14T13:37:37.389Z,1628948257.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:37.390Z,1628948257.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:37.391Z,1628948257.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:37.805Z,1628948257.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:38.621Z,1628948258.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,0149D,189,80,80,7B,FF
2021-08-14T13:37:38.621Z,1628948258.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:38.624Z,1628948258.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133739.06*54

2021-08-14T13:37:39.135Z,1628948259.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.119995 m, bearing: 248.706613 deg, deltaT: 4.868248 s, approachRate: 0.492989 m/s, LOS rate: -1.635323 deg/s, posRepo size: 4
2021-08-14T13:37:39.141Z,1628948259.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.119995 m,
      bearing: 248.706613 deg,
      approachRate: 0.492989 m/s,
      LOS rate: -1.635323 deg/s,
      cmd update: -4.905970 deg/s,
      cmd heading: 256.667772 deg,
      new cmd heading: 256.667772 deg.

2021-08-14T13:37:41.474Z,1628948261.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:41.849Z,1628948261.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:41.849Z,1628948261.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:41.849Z,1628948261.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:41.850Z,1628948261.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:42.250Z,1628948262.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,0149D,189,80,80,7B,FF
2021-08-14T13:37:42.250Z,1628948262.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:42.250Z,1628948262.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:42.251Z,1628948262.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:42.653Z,1628948262.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:43.473Z,1628948263.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,014BA,186,80,80,94,FF
2021-08-14T13:37:43.473Z,1628948263.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:43.477Z,1628948263.477 [Micromodem](INFO): Nmea in: $SNTTA,0.192053,,,,133743.93*47

2021-08-14T13:37:43.895Z,1628948263.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.859985 m, bearing: 242.826530 deg, deltaT: 4.809467 s, approachRate: 0.361784 m/s, LOS rate: -1.222606 deg/s, posRepo size: 4
2021-08-14T13:37:43.897Z,1628948263.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.859985 m,
      bearing: 242.826530 deg,
      approachRate: 0.361784 m/s,
      LOS rate: -1.222606 deg/s,
      cmd update: -3.667818 deg/s,
      cmd heading: 233.034012 deg,
      new cmd heading: 231.104239 deg.

2021-08-14T13:37:46.344Z,1628948266.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:46.691Z,1628948266.691 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:46.691Z,1628948266.691 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:46.692Z,1628948266.692 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:46.693Z,1628948266.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:47.117Z,1628948267.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,014BA,186,80,80,94,FF
2021-08-14T13:37:47.117Z,1628948267.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:47.117Z,1628948267.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:47.119Z,1628948267.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:47.500Z,1628948267.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:48.315Z,1628948268.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014C8,189,80,80,A5,FF
2021-08-14T13:37:48.316Z,1628948268.316 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:48.345Z,1628948268.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133748.79*5A

2021-08-14T13:37:48.759Z,1628948268.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.699982 m, bearing: 181.029601 deg, deltaT: 4.897720 s, approachRate: 0.171508 m/s, LOS rate: -12.617489 deg/s, posRepo size: 4
2021-08-14T13:37:48.760Z,1628948268.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.617489 deg/s. Setting heading cmd to target bearing of 181.029601deg and heading rate command to 0 deg/s.
2021-08-14T13:37:51.194Z,1628948271.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:51.549Z,1628948271.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:51.549Z,1628948271.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:51.549Z,1628948271.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:51.550Z,1628948271.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:51.946Z,1628948271.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014C8,189,80,80,A5,FF
2021-08-14T13:37:51.946Z,1628948271.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:51.946Z,1628948271.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:51.947Z,1628948271.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:52.357Z,1628948272.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:53.157Z,1628948273.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014C4,189,80,80,9F,FF
2021-08-14T13:37:53.158Z,1628948273.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:53.161Z,1628948273.161 [Micromodem](INFO): Nmea in: $SNTTA,0.392348,0.391748,,,133753.62*5D

2021-08-14T13:37:53.586Z,1628948273.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.459991 m, bearing: 159.091307 deg, deltaT: 4.852025 s, approachRate: -0.049462 m/s, LOS rate: -4.521472 deg/s, posRepo size: 4
2021-08-14T13:37:53.588Z,1628948273.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.459991 m,
      bearing: 159.091307 deg,
      approachRate: -0.049462 m/s,
      LOS rate: -4.521472 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 181.029601 deg,
      new cmd heading: 181.029601 deg.

2021-08-14T13:37:56.007Z,1628948276.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:37:56.401Z,1628948276.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:37:56.401Z,1628948276.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:37:56.401Z,1628948276.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:37:56.402Z,1628948276.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:37:56.798Z,1628948276.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014C4,189,80,80,9F,FF
2021-08-14T13:37:56.798Z,1628948276.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:37:56.798Z,1628948276.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:37:56.800Z,1628948276.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:37:57.201Z,1628948277.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:37:58.046Z,1628948278.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014AE,189,80,80,86,FF
2021-08-14T13:37:58.048Z,1628948278.048 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:37:58.077Z,1628948278.077 [Micromodem](INFO): Nmea in: $SNTTA,0.188553,,,,133758.47*4A

2021-08-14T13:37:58.441Z,1628948278.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.139984 m, bearing: 140.217677 deg, deltaT: 4.892055 s, approachRate: -0.269827 m/s, LOS rate: -3.858017 deg/s, posRepo size: 4
2021-08-14T13:37:58.443Z,1628948278.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.139984 m,
      bearing: 140.217677 deg,
      approachRate: -0.269827 m/s,
      LOS rate: -3.858017 deg/s,
      cmd update: -11.574049 deg/s,
      cmd heading: 122.322539 deg,
      new cmd heading: 118.660031 deg.

2021-08-14T13:38:00.847Z,1628948280.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:01.242Z,1628948281.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:01.242Z,1628948281.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:01.243Z,1628948281.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:01.243Z,1628948281.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:01.641Z,1628948281.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014AE,189,80,80,86,FF
2021-08-14T13:38:01.641Z,1628948281.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:01.641Z,1628948281.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:01.643Z,1628948281.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:02.077Z,1628948282.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:02.878Z,1628948282.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,01492,189,80,80,84,FF
2021-08-14T13:38:02.878Z,1628948282.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:02.885Z,1628948282.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133803.31*56

2021-08-14T13:38:03.323Z,1628948283.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.459991 m, bearing: 141.467766 deg, deltaT: 4.824136 s, approachRate: -0.348247 m/s, LOS rate: 0.259132 deg/s, posRepo size: 4
2021-08-14T13:38:03.325Z,1628948283.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.459991 m,
      bearing: 141.467766 deg,
      approachRate: -0.348247 m/s,
      LOS rate: 0.259132 deg/s,
      cmd update: 0.777396 deg/s,
      cmd heading: 67.060736 deg,
      new cmd heading: 62.279786 deg.

2021-08-14T13:38:05.719Z,1628948285.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:06.114Z,1628948286.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:06.114Z,1628948286.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:06.114Z,1628948286.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:06.115Z,1628948286.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:06.485Z,1628948286.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,01492,189,80,80,84,FF
2021-08-14T13:38:06.485Z,1628948286.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:06.485Z,1628948286.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:06.487Z,1628948286.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:06.903Z,1628948286.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:07.295Z,1628948287.295 [Micromodem](INFO): Nmea in: $SNTTA,0.160434,0.160427,,,133808.16*5A

2021-08-14T13:38:07.706Z,1628948287.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,01460,187,80,80,91,FF
2021-08-14T13:38:07.706Z,1628948287.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:08.166Z,1628948288.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.459991 m, bearing: 141.870091 deg, deltaT: 4.815840 s, approachRate: -0.622944 m/s, LOS rate: 0.083542 deg/s, posRepo size: 4
2021-08-14T13:38:08.167Z,1628948288.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.459991 m,
      bearing: 141.870091 deg,
      approachRate: -0.622944 m/s,
      LOS rate: 0.083542 deg/s,
      cmd update: 0.250626 deg/s,
      cmd heading: 70.838157 deg,
      new cmd heading: 71.146496 deg.

2021-08-14T13:38:10.567Z,1628948290.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:10.946Z,1628948290.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:10.947Z,1628948290.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:10.947Z,1628948290.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:10.950Z,1628948290.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:11.341Z,1628948291.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,01460,187,80,80,91,FF
2021-08-14T13:38:11.341Z,1628948291.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:11.341Z,1628948291.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:11.343Z,1628948291.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:11.740Z,1628948291.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:12.585Z,1628948292.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,0142E,182,80,80,AB,FF
2021-08-14T13:38:12.585Z,1628948292.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:12.594Z,1628948292.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133813.01*54

2021-08-14T13:38:13.090Z,1628948293.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.459991 m, bearing: 143.463383 deg, deltaT: 4.866974 s, approachRate: -0.616399 m/s, LOS rate: 0.327368 deg/s, posRepo size: 4
2021-08-14T13:38:13.096Z,1628948293.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.459991 m,
      bearing: 143.463383 deg,
      approachRate: -0.616399 m/s,
      LOS rate: 0.327368 deg/s,
      cmd update: 0.982104 deg/s,
      cmd heading: 72.058482 deg,
      new cmd heading: 72.171713 deg.

2021-08-14T13:38:15.399Z,1628948295.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:15.785Z,1628948295.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:15.785Z,1628948295.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:15.785Z,1628948295.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:15.786Z,1628948295.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:16.193Z,1628948296.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,0142E,182,80,80,AB,FF
2021-08-14T13:38:16.193Z,1628948296.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:16.193Z,1628948296.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:16.195Z,1628948296.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:16.589Z,1628948296.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:17.014Z,1628948297.014 [Micromodem](INFO): Nmea in: $SNTTA,0.306407,0.307163,,,133817.87*58

2021-08-14T13:38:17.401Z,1628948297.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,013FC,186,80,80,96,FF
2021-08-14T13:38:17.401Z,1628948297.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:17.844Z,1628948297.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.459991 m, bearing: 145.669371 deg, deltaT: 4.772968 s, approachRate: -0.628540 m/s, LOS rate: 0.462184 deg/s, posRepo size: 4
2021-08-14T13:38:17.846Z,1628948297.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.459991 m,
      bearing: 145.669371 deg,
      approachRate: -0.628540 m/s,
      LOS rate: 0.462184 deg/s,
      cmd update: 1.386551 deg/s,
      cmd heading: 76.754008 deg,
      new cmd heading: 77.171382 deg.

2021-08-14T13:38:20.262Z,1628948300.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:20.621Z,1628948300.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:20.621Z,1628948300.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:20.621Z,1628948300.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:20.622Z,1628948300.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:21.036Z,1628948301.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,013FC,186,80,80,96,FF
2021-08-14T13:38:21.037Z,1628948301.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:21.037Z,1628948301.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:21.043Z,1628948301.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:21.449Z,1628948301.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:21.849Z,1628948301.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6E,000,00A98,189,80,80,98,FF
2021-08-14T13:38:21.849Z,1628948301.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:22.278Z,1628948302.278 [Micromodem](INFO): Nmea in: $SNTTA,0.185275,,,,133822.72*40

2021-08-14T13:38:22.309Z,1628948302.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.220001 m, bearing: 152.313697 deg, deltaT: 4.478631 s, approachRate: -32.206268 m/s, LOS rate: 1.483562 deg/s, posRepo size: 4
2021-08-14T13:38:22.311Z,1628948302.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.220001 m,
      bearing: 152.313697 deg,
      approachRate: -32.206268 m/s,
      LOS rate: 1.483562 deg/s,
      cmd update: 4.450685 deg/s,
      cmd heading: 82.958297 deg,
      new cmd heading: 83.531770 deg.

2021-08-14T13:38:24.699Z,1628948304.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:25.109Z,1628948305.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:25.109Z,1628948305.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:25.109Z,1628948305.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:25.110Z,1628948305.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:25.481Z,1628948305.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6E,000,00A98,189,80,80,98,FF
2021-08-14T13:38:25.481Z,1628948305.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:25.481Z,1628948305.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:25.483Z,1628948305.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:25.893Z,1628948305.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:26.709Z,1628948306.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,013B2,189,80,80,6A,FF
2021-08-14T13:38:26.709Z,1628948306.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:26.712Z,1628948306.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133827.15*56

2021-08-14T13:38:27.181Z,1628948307.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.019989 m, bearing: 155.568186 deg, deltaT: 4.876723 s, approachRate: 28.666788 m/s, LOS rate: 0.667352 deg/s, posRepo size: 4
2021-08-14T13:38:27.184Z,1628948307.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.019989 m,
      bearing: 155.568186 deg,
      approachRate: 28.666788 m/s,
      LOS rate: 0.667352 deg/s,
      cmd update: 2.002055 deg/s,
      cmd heading: 104.631964 deg,
      new cmd heading: 106.483996 deg.

2021-08-14T13:38:29.539Z,1628948309.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:29.921Z,1628948309.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:29.921Z,1628948309.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:29.922Z,1628948309.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:29.923Z,1628948309.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:30.321Z,1628948310.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,013B2,189,80,80,6A,FF
2021-08-14T13:38:30.321Z,1628948310.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:30.321Z,1628948310.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:30.323Z,1628948310.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:30.873Z,1628948310.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:31.569Z,1628948311.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C75,000,01393,189,80,80,A3,FF
2021-08-14T13:38:31.569Z,1628948311.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:31.572Z,1628948311.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133831.99*55

2021-08-14T13:38:31.987Z,1628948311.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.160004 m, bearing: 147.762660 deg, deltaT: 4.813079 s, approachRate: -0.386444 m/s, LOS rate: -1.621732 deg/s, posRepo size: 4
2021-08-14T13:38:31.990Z,1628948311.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.160004 m,
      bearing: 147.762660 deg,
      approachRate: -0.386444 m/s,
      LOS rate: -1.621732 deg/s,
      cmd update: -4.865198 deg/s,
      cmd heading: 114.290064 deg,
      new cmd heading: 115.090710 deg.

2021-08-14T13:38:34.416Z,1628948314.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:34.777Z,1628948314.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:34.778Z,1628948314.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:34.778Z,1628948314.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:34.779Z,1628948314.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:35.181Z,1628948315.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C75,000,01393,189,80,80,A3,FF
2021-08-14T13:38:35.181Z,1628948315.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:35.181Z,1628948315.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:35.183Z,1628948315.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:35.592Z,1628948315.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:36.425Z,1628948316.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,01367,186,80,80,80,FF
2021-08-14T13:38:36.425Z,1628948316.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:36.429Z,1628948316.429 [Micromodem](INFO): Nmea in: $SNTTA,0.175683,,,,133836.85*4F

2021-08-14T13:38:36.844Z,1628948316.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.519989 m, bearing: 96.871009 deg, deltaT: 4.910722 s, approachRate: -0.537602 m/s, LOS rate: -10.363374 deg/s, posRepo size: 4
2021-08-14T13:38:36.846Z,1628948316.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.519989 m,
      bearing: 96.871009 deg,
      approachRate: -0.537602 m/s,
      LOS rate: -10.363374 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 90.476187 deg,
      new cmd heading: 88.716766 deg.

2021-08-14T13:38:39.298Z,1628948319.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:39.633Z,1628948319.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:39.633Z,1628948319.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:39.633Z,1628948319.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:39.634Z,1628948319.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:40.057Z,1628948320.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,01367,186,80,80,80,FF
2021-08-14T13:38:40.058Z,1628948320.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:40.058Z,1628948320.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:40.064Z,1628948320.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:40.440Z,1628948320.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:41.263Z,1628948321.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4F,000,01338,189,80,80,97,FF
2021-08-14T13:38:41.265Z,1628948321.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:41.270Z,1628948321.270 [Micromodem](INFO): Nmea in: $SNTTA,0.174358,,,,133841.74*43

2021-08-14T13:38:41.674Z,1628948321.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.699982 m, bearing: 156.042543 deg, deltaT: 4.872921 s, approachRate: -0.578710 m/s, LOS rate: 12.142929 deg/s, posRepo size: 4
2021-08-14T13:38:41.675Z,1628948321.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.142929 deg/s. Setting heading cmd to target bearing of 156.042543deg and heading rate command to 0 deg/s.
2021-08-14T13:38:43.304Z,1628948323.304 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:38:44.137Z,1628948324.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:44.479Z,1628948324.479 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:44.479Z,1628948324.479 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:44.479Z,1628948324.479 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:44.480Z,1628948324.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:44.877Z,1628948324.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4F,000,01338,189,80,80,97,FF
2021-08-14T13:38:44.877Z,1628948324.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:44.877Z,1628948324.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:44.897Z,1628948324.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:45.296Z,1628948325.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:46.122Z,1628948326.122 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133846.57*57

2021-08-14T13:38:46.984Z,1628948326.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:48.521Z,1628948328.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,97,FF
2021-08-14T13:38:48.522Z,1628948328.522 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,97,FF
2021-08-14T13:38:48.522Z,1628948328.522 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:38:49.762Z,1628948329.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:50.129Z,1628948330.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:50.129Z,1628948330.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:50.129Z,1628948330.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:50.130Z,1628948330.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:50.537Z,1628948330.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,97,FF
2021-08-14T13:38:50.537Z,1628948330.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:50.537Z,1628948330.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:50.539Z,1628948330.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:50.974Z,1628948330.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:51.774Z,1628948331.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,01304,189,80,80,6D,FF
2021-08-14T13:38:51.774Z,1628948331.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:51.779Z,1628948331.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133852.21*53

2021-08-14T13:38:52.195Z,1628948332.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.579987 m, bearing: 108.799845 deg, deltaT: 10.457114 s, approachRate: -0.298361 m/s, LOS rate: -4.517757 deg/s, posRepo size: 4
2021-08-14T13:38:52.213Z,1628948332.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.579987 m,
      bearing: 108.799845 deg,
      approachRate: -0.298361 m/s,
      LOS rate: -4.517757 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 156.042543 deg,
      new cmd heading: 156.042543 deg.

2021-08-14T13:38:54.614Z,1628948334.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:55.021Z,1628948335.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:55.022Z,1628948335.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:55.022Z,1628948335.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:55.024Z,1628948335.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:38:55.381Z,1628948335.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,01304,189,80,80,6D,FF
2021-08-14T13:38:55.381Z,1628948335.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:38:55.381Z,1628948335.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:38:55.383Z,1628948335.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:38:55.788Z,1628948335.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:38:56.617Z,1628948336.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,012F6,189,80,80,80,FF
2021-08-14T13:38:56.617Z,1628948336.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:38:56.620Z,1628948336.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133857.05*50

2021-08-14T13:38:57.121Z,1628948337.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.739990 m, bearing: 149.958634 deg, deltaT: 4.839210 s, approachRate: -0.173581 m/s, LOS rate: 8.505270 deg/s, posRepo size: 4
2021-08-14T13:38:57.123Z,1628948337.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.739990 m,
      bearing: 149.958634 deg,
      approachRate: -0.173581 m/s,
      LOS rate: 8.505270 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 97.971973 deg,
      new cmd heading: 92.582065 deg.

2021-08-14T13:38:59.470Z,1628948339.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:38:59.837Z,1628948339.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:38:59.837Z,1628948339.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:38:59.837Z,1628948339.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:38:59.838Z,1628948339.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:00.237Z,1628948340.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,012F6,189,80,80,80,FF
2021-08-14T13:39:00.238Z,1628948340.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:00.238Z,1628948340.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:00.240Z,1628948340.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:00.645Z,1628948340.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:01.473Z,1628948341.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5C,000,012D9,189,80,80,55,FF
2021-08-14T13:39:01.473Z,1628948341.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:01.476Z,1628948341.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133901.91*5F

2021-08-14T13:39:01.891Z,1628948341.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.000000 m, bearing: 148.910172 deg, deltaT: 4.844394 s, approachRate: -0.359176 m/s, LOS rate: -0.216428 deg/s, posRepo size: 4
2021-08-14T13:39:01.894Z,1628948341.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.000000 m,
      bearing: 148.910172 deg,
      approachRate: -0.359176 m/s,
      LOS rate: -0.216428 deg/s,
      cmd update: -0.649283 deg/s,
      cmd heading: 155.863635 deg,
      new cmd heading: 160.658175 deg.

2021-08-14T13:39:04.301Z,1628948344.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:04.673Z,1628948344.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:04.673Z,1628948344.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:04.673Z,1628948344.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:04.674Z,1628948344.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:05.101Z,1628948345.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5C,000,012D9,189,80,80,55,FF
2021-08-14T13:39:05.101Z,1628948345.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:05.101Z,1628948345.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:05.103Z,1628948345.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:05.493Z,1628948345.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:06.302Z,1628948346.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133906.77*50

2021-08-14T13:39:07.169Z,1628948347.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:07.909Z,1628948347.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,06C2E,189,80,80,79,FF
2021-08-14T13:39:07.910Z,1628948347.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:08.355Z,1628948348.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1624.140015 m, bearing: 162.971783 deg, deltaT: 6.414470 s, approachRate: 213.913239 m/s, LOS rate: 2.192170 deg/s, posRepo size: 4
2021-08-14T13:39:08.358Z,1628948348.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1624.140015 m,
      bearing: 162.971783 deg,
      approachRate: 213.913239 m/s,
      LOS rate: 2.192170 deg/s,
      cmd update: 6.576511 deg/s,
      cmd heading: 151.685777 deg,
      new cmd heading: 151.407204 deg.

2021-08-14T13:39:10.771Z,1628948350.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:11.152Z,1628948351.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:11.152Z,1628948351.152 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:11.152Z,1628948351.152 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:11.153Z,1628948351.153 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:11.541Z,1628948351.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,06C2E,189,80,80,79,FF
2021-08-14T13:39:11.541Z,1628948351.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:11.542Z,1628948351.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:11.543Z,1628948351.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:11.957Z,1628948351.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:12.782Z,1628948352.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,01271,185,80,80,8A,FF
2021-08-14T13:39:12.782Z,1628948352.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:12.806Z,1628948352.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133913.21*57

2021-08-14T13:39:13.233Z,1628948353.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.759995 m, bearing: 150.543612 deg, deltaT: 4.895267 s, approachRate: -281.574005 m/s, LOS rate: -2.538814 deg/s, posRepo size: 4
2021-08-14T13:39:13.235Z,1628948353.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.759995 m,
      bearing: 150.543612 deg,
      approachRate: -281.574005 m/s,
      LOS rate: -2.538814 deg/s,
      cmd update: -7.616441 deg/s,
      cmd heading: 183.878573 deg,
      new cmd heading: 186.582084 deg.

2021-08-14T13:39:15.599Z,1628948355.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:15.993Z,1628948355.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:15.993Z,1628948355.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:15.993Z,1628948355.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:15.994Z,1628948355.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:16.393Z,1628948356.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,01271,185,80,80,8A,FF
2021-08-14T13:39:16.394Z,1628948356.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:16.394Z,1628948356.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:16.395Z,1628948356.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:16.805Z,1628948356.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:17.631Z,1628948357.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C0,000,01240,186,80,80,A1,FF
2021-08-14T13:39:17.632Z,1628948357.632 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:17.635Z,1628948357.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133918.06*59

2021-08-14T13:39:18.078Z,1628948358.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.820007 m, bearing: 151.924062 deg, deltaT: 4.828936 s, approachRate: -0.608827 m/s, LOS rate: 0.285870 deg/s, posRepo size: 4
2021-08-14T13:39:18.080Z,1628948358.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.820007 m,
      bearing: 151.924062 deg,
      approachRate: -0.608827 m/s,
      LOS rate: 0.285870 deg/s,
      cmd update: 0.857611 deg/s,
      cmd heading: 147.098191 deg,
      new cmd heading: 143.846192 deg.

2021-08-14T13:39:20.468Z,1628948360.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:20.849Z,1628948360.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:20.849Z,1628948360.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:20.849Z,1628948360.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:20.850Z,1628948360.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:21.237Z,1628948361.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C0,000,01240,186,80,80,A1,FF
2021-08-14T13:39:21.237Z,1628948361.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:21.238Z,1628948361.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:21.239Z,1628948361.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:21.660Z,1628948361.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:22.481Z,1628948362.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,0120D,186,80,80,6E,FF
2021-08-14T13:39:22.482Z,1628948362.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:22.485Z,1628948362.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133922.91*5E

2021-08-14T13:39:22.923Z,1628948362.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.759979 m, bearing: 148.585629 deg, deltaT: 4.849681 s, approachRate: -0.630975 m/s, LOS rate: -0.688382 deg/s, posRepo size: 4
2021-08-14T13:39:22.931Z,1628948362.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.759979 m,
      bearing: 148.585629 deg,
      approachRate: -0.630975 m/s,
      LOS rate: -0.688382 deg/s,
      cmd update: -2.065146 deg/s,
      cmd heading: 151.257160 deg,
      new cmd heading: 151.615347 deg.

2021-08-14T13:39:25.336Z,1628948365.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:25.694Z,1628948365.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:25.694Z,1628948365.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:25.694Z,1628948365.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:25.695Z,1628948365.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:26.105Z,1628948366.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,0120D,186,80,80,6E,FF
2021-08-14T13:39:26.105Z,1628948366.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:26.106Z,1628948366.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:26.107Z,1628948366.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:26.508Z,1628948366.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:27.315Z,1628948367.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,011D8,182,80,80,B3,FF
2021-08-14T13:39:27.315Z,1628948367.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:27.321Z,1628948367.321 [Micromodem](INFO): Nmea in: $SNTTA,0.160241,,,,133927.78*42

2021-08-14T13:39:27.736Z,1628948367.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.580002 m, bearing: 153.507463 deg, deltaT: 4.906506 s, approachRate: -0.648114 m/s, LOS rate: 1.003124 deg/s, posRepo size: 4
2021-08-14T13:39:27.738Z,1628948367.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.580002 m,
      bearing: 153.507463 deg,
      approachRate: -0.648114 m/s,
      LOS rate: 1.003124 deg/s,
      cmd update: 3.009372 deg/s,
      cmd heading: 141.124527 deg,
      new cmd heading: 140.444793 deg.

2021-08-14T13:39:30.154Z,1628948370.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:30.542Z,1628948370.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:30.542Z,1628948370.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:30.542Z,1628948370.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:30.543Z,1628948370.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:30.963Z,1628948370.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,011D8,182,80,80,B3,FF
2021-08-14T13:39:30.963Z,1628948370.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:30.972Z,1628948370.972 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:30.974Z,1628948370.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:31.361Z,1628948371.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:32.157Z,1628948372.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,011A1,187,80,80,A3,FF
2021-08-14T13:39:32.158Z,1628948372.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:32.169Z,1628948372.169 [Micromodem](INFO): Nmea in: $SNTTA,0.158101,,,,133932.64*47

2021-08-14T13:39:32.588Z,1628948372.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.279984 m, bearing: 153.279171 deg, deltaT: 4.838137 s, approachRate: -0.682085 m/s, LOS rate: -0.047186 deg/s, posRepo size: 4
2021-08-14T13:39:32.590Z,1628948372.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.279984 m,
      bearing: 153.279171 deg,
      approachRate: -0.682085 m/s,
      LOS rate: -0.047186 deg/s,
      cmd update: -0.141558 deg/s,
      cmd heading: 155.658829 deg,
      new cmd heading: 156.716111 deg.

2021-08-14T13:39:35.104Z,1628948375.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:35.385Z,1628948375.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:35.386Z,1628948375.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:35.386Z,1628948375.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:35.387Z,1628948375.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:35.793Z,1628948375.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,011A1,187,80,80,A3,FF
2021-08-14T13:39:35.793Z,1628948375.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:35.794Z,1628948375.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:35.795Z,1628948375.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:36.196Z,1628948376.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:37.021Z,1628948377.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,01168,186,80,80,97,FF
2021-08-14T13:39:37.023Z,1628948377.023 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:37.057Z,1628948377.057 [Micromodem](INFO): Nmea in: $SNTTA,0.155135,0.465416,,,133937.46*52

2021-08-14T13:39:37.439Z,1628948377.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.859985 m, bearing: 153.458067 deg, deltaT: 4.912868 s, approachRate: -0.696131 m/s, LOS rate: 0.036414 deg/s, posRepo size: 4
2021-08-14T13:39:37.442Z,1628948377.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.859985 m,
      bearing: 153.458067 deg,
      approachRate: -0.696131 m/s,
      LOS rate: 0.036414 deg/s,
      cmd update: 0.109241 deg/s,
      cmd heading: 154.963448 deg,
      new cmd heading: 154.922282 deg.

2021-08-14T13:39:39.843Z,1628948379.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:40.221Z,1628948380.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:40.221Z,1628948380.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:40.221Z,1628948380.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:40.222Z,1628948380.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:40.633Z,1628948380.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,01168,186,80,80,97,FF
2021-08-14T13:39:40.633Z,1628948380.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:40.633Z,1628948380.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:40.635Z,1628948380.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:41.059Z,1628948381.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:41.869Z,1628948381.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,01132,185,80,80,AB,FF
2021-08-14T13:39:41.870Z,1628948381.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:41.900Z,1628948381.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133942.30*53

2021-08-14T13:39:42.287Z,1628948382.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.619995 m, bearing: 152.674262 deg, deltaT: 4.795454 s, approachRate: -0.675638 m/s, LOS rate: -0.163448 deg/s, posRepo size: 4
2021-08-14T13:39:42.289Z,1628948382.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.619995 m,
      bearing: 152.674262 deg,
      approachRate: -0.675638 m/s,
      LOS rate: -0.163448 deg/s,
      cmd update: -0.490343 deg/s,
      cmd heading: 155.487385 deg,
      new cmd heading: 155.524771 deg.

2021-08-14T13:39:44.687Z,1628948384.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:45.101Z,1628948385.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:45.101Z,1628948385.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:45.101Z,1628948385.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:45.102Z,1628948385.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:45.478Z,1628948385.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,01132,185,80,80,AB,FF
2021-08-14T13:39:45.478Z,1628948385.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:45.478Z,1628948385.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:45.479Z,1628948385.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:45.885Z,1628948385.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:46.717Z,1628948386.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,010F9,186,80,80,A4,FF
2021-08-14T13:39:46.718Z,1628948386.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:46.721Z,1628948386.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133947.15*51

2021-08-14T13:39:47.179Z,1628948387.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.199997 m, bearing: 153.262861 deg, deltaT: 4.837128 s, approachRate: -0.707031 m/s, LOS rate: 0.121683 deg/s, posRepo size: 4
2021-08-14T13:39:47.185Z,1628948387.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.199997 m,
      bearing: 153.262861 deg,
      approachRate: -0.707031 m/s,
      LOS rate: 0.121683 deg/s,
      cmd update: 0.365050 deg/s,
      cmd heading: 153.123240 deg,
      new cmd heading: 152.921004 deg.

2021-08-14T13:39:49.555Z,1628948389.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:49.921Z,1628948389.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:49.921Z,1628948389.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:49.921Z,1628948389.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:49.922Z,1628948389.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:50.325Z,1628948390.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,010F9,186,80,80,A4,FF
2021-08-14T13:39:50.325Z,1628948390.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:50.326Z,1628948390.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:50.327Z,1628948390.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:50.732Z,1628948390.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:51.573Z,1628948391.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,010C0,187,80,80,AA,FF
2021-08-14T13:39:51.574Z,1628948391.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:51.577Z,1628948391.577 [Micromodem](INFO): Nmea in: $SNTTA,,0.238923,,,133952.00*4E

2021-08-14T13:39:51.980Z,1628948391.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.779984 m, bearing: 153.125273 deg, deltaT: 4.863578 s, approachRate: -0.703189 m/s, LOS rate: -0.028289 deg/s, posRepo size: 4
2021-08-14T13:39:51.982Z,1628948391.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.779984 m,
      bearing: 153.125273 deg,
      approachRate: -0.703189 m/s,
      LOS rate: -0.028289 deg/s,
      cmd update: -0.084868 deg/s,
      cmd heading: 154.903493 deg,
      new cmd heading: 155.026423 deg.

2021-08-14T13:39:54.404Z,1628948394.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:54.769Z,1628948394.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:54.770Z,1628948394.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:54.770Z,1628948394.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:54.771Z,1628948394.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:39:55.177Z,1628948395.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,010C0,187,80,80,AA,FF
2021-08-14T13:39:55.177Z,1628948395.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:39:55.178Z,1628948395.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:39:55.179Z,1628948395.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:39:55.596Z,1628948395.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:39:56.421Z,1628948396.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,01087,186,80,80,92,FF
2021-08-14T13:39:56.421Z,1628948396.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:39:56.424Z,1628948396.424 [Micromodem](INFO): Nmea in: $SNTTA,0.146333,,,,133956.85*46

2021-08-14T13:39:56.823Z,1628948396.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.359985 m, bearing: 152.884673 deg, deltaT: 4.796726 s, approachRate: -0.712986 m/s, LOS rate: -0.050159 deg/s, posRepo size: 4
2021-08-14T13:39:56.826Z,1628948396.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.359985 m,
      bearing: 152.884673 deg,
      approachRate: -0.712986 m/s,
      LOS rate: -0.050159 deg/s,
      cmd update: -0.150478 deg/s,
      cmd heading: 154.495464 deg,
      new cmd heading: 154.463830 deg.

2021-08-14T13:39:59.278Z,1628948399.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:39:59.625Z,1628948399.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:39:59.625Z,1628948399.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:39:59.625Z,1628948399.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:39:59.626Z,1628948399.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:00.026Z,1628948400.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,01087,186,80,80,92,FF
2021-08-14T13:40:00.026Z,1628948400.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:00.026Z,1628948400.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:00.033Z,1628948400.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:00.429Z,1628948400.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:01.265Z,1628948401.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0104F,186,80,80,9B,FF
2021-08-14T13:40:01.266Z,1628948401.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:01.269Z,1628948401.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134001.70*5E

2021-08-14T13:40:01.676Z,1628948401.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.999985 m, bearing: 152.554379 deg, deltaT: 4.909062 s, approachRate: -0.684449 m/s, LOS rate: -0.067283 deg/s, posRepo size: 4
2021-08-14T13:40:01.678Z,1628948401.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.999985 m,
      bearing: 152.554379 deg,
      approachRate: -0.684449 m/s,
      LOS rate: -0.067283 deg/s,
      cmd update: -0.201848 deg/s,
      cmd heading: 153.757258 deg,
      new cmd heading: 153.709236 deg.

2021-08-14T13:40:04.122Z,1628948404.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:04.469Z,1628948404.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:04.469Z,1628948404.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:04.469Z,1628948404.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:04.470Z,1628948404.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:04.870Z,1628948404.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0104F,186,80,80,9B,FF
2021-08-14T13:40:04.870Z,1628948404.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:04.870Z,1628948404.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:04.872Z,1628948404.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:05.281Z,1628948405.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:06.123Z,1628948406.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,01016,186,80,80,AD,FF
2021-08-14T13:40:06.123Z,1628948406.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:06.127Z,1628948406.127 [Micromodem](INFO): Nmea in: $SNTTA,0.142349,,,,134006.54*48

2021-08-14T13:40:06.540Z,1628948406.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.579987 m, bearing: 152.898675 deg, deltaT: 4.820298 s, approachRate: -0.709499 m/s, LOS rate: 0.071426 deg/s, posRepo size: 4
2021-08-14T13:40:06.542Z,1628948406.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.579987 m,
      bearing: 152.898675 deg,
      approachRate: -0.709499 m/s,
      LOS rate: 0.071426 deg/s,
      cmd update: 0.214279 deg/s,
      cmd heading: 152.789294 deg,
      new cmd heading: 152.711056 deg.

2021-08-14T13:40:08.989Z,1628948408.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:09.317Z,1628948409.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:09.318Z,1628948409.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:09.318Z,1628948409.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:09.319Z,1628948409.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:09.725Z,1628948409.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,01016,186,80,80,AD,FF
2021-08-14T13:40:09.725Z,1628948409.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:09.726Z,1628948409.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:09.727Z,1628948409.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:10.133Z,1628948410.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:10.985Z,1628948410.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00FE9,186,80,80,B2,FF
2021-08-14T13:40:10.986Z,1628948410.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:10.989Z,1628948410.989 [Micromodem](INFO): Nmea in: $SNTTA,0.140111,,,,134011.40*46

2021-08-14T13:40:11.375Z,1628948411.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.879990 m, bearing: 152.325253 deg, deltaT: 4.960966 s, approachRate: -0.544248 m/s, LOS rate: -0.115587 deg/s, posRepo size: 4
2021-08-14T13:40:11.394Z,1628948411.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.879990 m,
      bearing: 152.325253 deg,
      approachRate: -0.544248 m/s,
      LOS rate: -0.115587 deg/s,
      cmd update: -0.346760 deg/s,
      cmd heading: 153.853033 deg,
      new cmd heading: 153.908564 deg.

2021-08-14T13:40:13.797Z,1628948413.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:14.161Z,1628948414.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:14.161Z,1628948414.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:14.161Z,1628948414.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:14.162Z,1628948414.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:14.565Z,1628948414.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00FE9,186,80,80,B2,FF
2021-08-14T13:40:14.565Z,1628948414.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:14.566Z,1628948414.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:14.567Z,1628948414.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:15.050Z,1628948415.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:15.774Z,1628948415.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00FA6,186,80,80,66,FF
2021-08-14T13:40:15.775Z,1628948415.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:16.226Z,1628948416.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.859985 m, bearing: 151.658668 deg, deltaT: 4.652906 s, approachRate: -0.863977 m/s, LOS rate: -0.143262 deg/s, posRepo size: 4
2021-08-14T13:40:16.228Z,1628948416.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.859985 m,
      bearing: 151.658668 deg,
      approachRate: -0.863977 m/s,
      LOS rate: -0.143262 deg/s,
      cmd update: -0.429787 deg/s,
      cmd heading: 152.230975 deg,
      new cmd heading: 152.081293 deg.

2021-08-14T13:40:18.631Z,1628948418.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:19.023Z,1628948419.023 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:19.024Z,1628948419.024 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:19.025Z,1628948419.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:19.026Z,1628948419.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:19.417Z,1628948419.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00FA6,186,80,80,66,FF
2021-08-14T13:40:19.417Z,1628948419.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:19.418Z,1628948419.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:19.419Z,1628948419.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:19.828Z,1628948419.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:20.657Z,1628948420.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00F6C,184,80,80,88,FF
2021-08-14T13:40:20.658Z,1628948420.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:20.661Z,1628948420.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134021.09*52

2021-08-14T13:40:21.127Z,1628948421.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.379990 m, bearing: 152.001434 deg, deltaT: 4.881903 s, approachRate: -0.712836 m/s, LOS rate: 0.070212 deg/s, posRepo size: 4
2021-08-14T13:40:21.134Z,1628948421.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.379990 m,
      bearing: 152.001434 deg,
      approachRate: -0.712836 m/s,
      LOS rate: 0.070212 deg/s,
      cmd update: 0.210635 deg/s,
      cmd heading: 150.132830 deg,
      new cmd heading: 149.938753 deg.

2021-08-14T13:40:23.472Z,1628948423.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:23.857Z,1628948423.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:23.857Z,1628948423.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:23.857Z,1628948423.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:23.858Z,1628948423.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:24.266Z,1628948424.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,00F6C,184,80,80,88,FF
2021-08-14T13:40:24.266Z,1628948424.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:24.266Z,1628948424.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:24.268Z,1628948424.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:24.676Z,1628948424.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:25.094Z,1628948425.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,023,000,00F6C,184,80,80,88,FF
2021-08-14T13:40:25.094Z,1628948425.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:25.509Z,1628948425.509 [Micromodem](INFO): Nmea in: $SNTTA,0.133339,,,,134025.94*44

2021-08-14T13:40:25.539Z,1628948425.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.379990 m, bearing: 152.879769 deg, deltaT: 4.504443 s, approachRate: 0.000000 m/s, LOS rate: 0.194993 deg/s, posRepo size: 4
2021-08-14T13:40:25.541Z,1628948425.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.379990 m,
      bearing: 152.879769 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.194993 deg/s,
      cmd update: 0.584979 deg/s,
      cmd heading: 151.081630 deg,
      new cmd heading: 151.157166 deg.

2021-08-14T13:40:27.930Z,1628948427.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:28.305Z,1628948428.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:28.305Z,1628948428.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:28.305Z,1628948428.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:28.306Z,1628948428.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:28.705Z,1628948428.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
023,000,00F6C,184,80,80,88,FF
2021-08-14T13:40:28.705Z,1628948428.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:28.705Z,1628948428.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:28.707Z,1628948428.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:29.117Z,1628948429.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:29.937Z,1628948429.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00F01,185,80,80,81,FF
2021-08-14T13:40:29.937Z,1628948429.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:29.940Z,1628948429.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134030.38*50

2021-08-14T13:40:30.367Z,1628948430.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.959991 m, bearing: 153.175653 deg, deltaT: 4.795672 s, approachRate: -1.338707 m/s, LOS rate: 0.061698 deg/s, posRepo size: 4
2021-08-14T13:40:30.369Z,1628948430.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.959991 m,
      bearing: 153.175653 deg,
      approachRate: -1.338707 m/s,
      LOS rate: 0.061698 deg/s,
      cmd update: 0.185094 deg/s,
      cmd heading: 153.875224 deg,
      new cmd heading: 154.115579 deg.

2021-08-14T13:40:32.771Z,1628948432.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:33.154Z,1628948433.154 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:33.154Z,1628948433.154 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:33.154Z,1628948433.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:33.155Z,1628948433.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:33.553Z,1628948433.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00F01,185,80,80,81,FF
2021-08-14T13:40:33.553Z,1628948433.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:33.553Z,1628948433.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:33.555Z,1628948433.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:33.965Z,1628948433.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:34.789Z,1628948434.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00ECC,184,80,80,BC,FF
2021-08-14T13:40:34.790Z,1628948434.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:34.792Z,1628948434.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134035.23*5F

2021-08-14T13:40:35.234Z,1628948435.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.779984 m, bearing: 152.389375 deg, deltaT: 4.831993 s, approachRate: -0.658115 m/s, LOS rate: -0.162723 deg/s, posRepo size: 4
2021-08-14T13:40:35.253Z,1628948435.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.779984 m,
      bearing: 152.389375 deg,
      approachRate: -0.658115 m/s,
      LOS rate: -0.162723 deg/s,
      cmd update: -0.488170 deg/s,
      cmd heading: 154.773301 deg,
      new cmd heading: 154.852270 deg.

2021-08-14T13:40:37.623Z,1628948437.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:38.001Z,1628948438.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:38.001Z,1628948438.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:38.001Z,1628948438.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:38.002Z,1628948438.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:38.405Z,1628948438.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00ECC,184,80,80,BC,FF
2021-08-14T13:40:38.405Z,1628948438.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:38.405Z,1628948438.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:38.407Z,1628948438.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:38.827Z,1628948438.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:39.641Z,1628948439.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00E97,186,80,80,6C,FF
2021-08-14T13:40:39.641Z,1628948439.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:39.644Z,1628948439.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134040.08*54

2021-08-14T13:40:40.084Z,1628948440.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.599991 m, bearing: 151.953923 deg, deltaT: 4.886270 s, approachRate: -0.650802 m/s, LOS rate: -0.089117 deg/s, posRepo size: 4
2021-08-14T13:40:40.086Z,1628948440.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.599991 m,
      bearing: 151.953923 deg,
      approachRate: -0.650802 m/s,
      LOS rate: -0.089117 deg/s,
      cmd update: -0.267352 deg/s,
      cmd heading: 152.389993 deg,
      new cmd heading: 152.197558 deg.

2021-08-14T13:40:42.459Z,1628948442.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:42.857Z,1628948442.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:42.857Z,1628948442.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:42.857Z,1628948442.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:42.858Z,1628948442.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:43.257Z,1628948443.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00E97,186,80,80,6C,FF
2021-08-14T13:40:43.258Z,1628948443.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:43.258Z,1628948443.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:43.259Z,1628948443.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:43.665Z,1628948443.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:44.489Z,1628948444.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00E60,186,80,80,64,FF
2021-08-14T13:40:44.489Z,1628948444.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:44.492Z,1628948444.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134044.93*52

2021-08-14T13:40:44.965Z,1628948444.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.300003 m, bearing: 151.766844 deg, deltaT: 4.813612 s, approachRate: -0.685553 m/s, LOS rate: -0.038865 deg/s, posRepo size: 4
2021-08-14T13:40:44.967Z,1628948444.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.300003 m,
      bearing: 151.766844 deg,
      approachRate: -0.685553 m/s,
      LOS rate: -0.038865 deg/s,
      cmd update: -0.116594 deg/s,
      cmd heading: 151.101958 deg,
      new cmd heading: 150.980956 deg.

2021-08-14T13:40:47.365Z,1628948447.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:47.750Z,1628948447.750 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:47.750Z,1628948447.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:47.750Z,1628948447.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:47.751Z,1628948447.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:48.113Z,1628948448.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,00E60,186,80,80,64,FF
2021-08-14T13:40:48.113Z,1628948448.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:48.113Z,1628948448.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:48.115Z,1628948448.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:48.518Z,1628948448.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:48.929Z,1628948448.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00E60,186,80,80,64,FF
2021-08-14T13:40:48.931Z,1628948448.931 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:49.349Z,1628948449.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134049.79*5B

2021-08-14T13:40:49.375Z,1628948449.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.300003 m, bearing: 152.675287 deg, deltaT: 4.565511 s, approachRate: 0.000000 m/s, LOS rate: 0.198979 deg/s, posRepo size: 4
2021-08-14T13:40:49.402Z,1628948449.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.300003 m,
      bearing: 152.675287 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.198979 deg/s,
      cmd update: 0.596938 deg/s,
      cmd heading: 150.570793 deg,
      new cmd heading: 150.534445 deg.

2021-08-14T13:40:51.784Z,1628948451.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:52.137Z,1628948452.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:52.137Z,1628948452.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:52.137Z,1628948452.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:52.138Z,1628948452.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:52.549Z,1628948452.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00E60,186,80,80,64,FF
2021-08-14T13:40:52.550Z,1628948452.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:52.550Z,1628948452.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:52.553Z,1628948452.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:53.001Z,1628948453.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:53.362Z,1628948453.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00E60,186,80,80,64,FF
2021-08-14T13:40:53.362Z,1628948453.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:53.813Z,1628948453.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.300003 m, bearing: 151.915155 deg, deltaT: 4.343185 s, approachRate: 0.000000 m/s, LOS rate: -0.175017 deg/s, posRepo size: 4
2021-08-14T13:40:53.815Z,1628948453.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.300003 m,
      bearing: 151.915155 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.175017 deg/s,
      cmd update: -0.525051 deg/s,
      cmd heading: 153.164491 deg,
      new cmd heading: 153.405261 deg.

2021-08-14T13:40:56.221Z,1628948456.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:40:56.579Z,1628948456.579 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:40:56.579Z,1628948456.579 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:40:56.579Z,1628948456.579 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:40:56.580Z,1628948456.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:40:57.013Z,1628948457.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00E60,186,80,80,64,FF
2021-08-14T13:40:57.013Z,1628948457.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:40:57.014Z,1628948457.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:40:57.015Z,1628948457.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:40:57.505Z,1628948457.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:40:57.897Z,1628948457.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00DC4,184,80,80,88,FF
2021-08-14T13:40:57.897Z,1628948457.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:40:58.321Z,1628948458.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134058.69*5A

2021-08-14T13:40:58.358Z,1628948458.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.939987 m, bearing: 152.016256 deg, deltaT: 4.532683 s, approachRate: -2.065006 m/s, LOS rate: 0.022305 deg/s, posRepo size: 4
2021-08-14T13:40:58.362Z,1628948458.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.939987 m,
      bearing: 152.016256 deg,
      approachRate: -2.065006 m/s,
      LOS rate: 0.022305 deg/s,
      cmd update: 0.066914 deg/s,
      cmd heading: 150.784658 deg,
      new cmd heading: 150.565602 deg.

2021-08-14T13:41:00.765Z,1628948460.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:01.133Z,1628948461.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:01.133Z,1628948461.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:01.133Z,1628948461.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:01.134Z,1628948461.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:01.541Z,1628948461.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00DC4,184,80,80,88,FF
2021-08-14T13:41:01.541Z,1628948461.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:01.541Z,1628948461.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:01.543Z,1628948461.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:01.949Z,1628948461.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:02.354Z,1628948462.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00D94,184,80,80,88,FF
2021-08-14T13:41:02.355Z,1628948462.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:02.392Z,1628948462.392 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T13:41:02.809Z,1628948462.809 [Micromodem](INFO): Nmea in: $SNTTA,0.115996,,,,134103.21*44

2021-08-14T13:41:02.831Z,1628948462.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.059998 m, bearing: 152.465395 deg, deltaT: 4.470230 s, approachRate: -0.644260 m/s, LOS rate: 0.100473 deg/s, posRepo size: 4
2021-08-14T13:41:02.835Z,1628948462.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.059998 m,
      bearing: 152.465395 deg,
      approachRate: -0.644260 m/s,
      LOS rate: 0.100473 deg/s,
      cmd update: 0.301420 deg/s,
      cmd heading: 151.084063 deg,
      new cmd heading: 151.111898 deg.

2021-08-14T13:41:05.240Z,1628948465.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:05.577Z,1628948465.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:05.577Z,1628948465.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:05.577Z,1628948465.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:05.578Z,1628948465.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:05.973Z,1628948465.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00D94,184,80,80,88,FF
2021-08-14T13:41:05.974Z,1628948465.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:05.974Z,1628948465.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:05.975Z,1628948465.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:06.400Z,1628948466.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:06.797Z,1628948466.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00D5D,184,80,80,88,FF
2021-08-14T13:41:06.798Z,1628948466.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:07.218Z,1628948467.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134107.65*5D

2021-08-14T13:41:07.291Z,1628948467.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.760010 m, bearing: 152.389853 deg, deltaT: 4.402279 s, approachRate: -0.749609 m/s, LOS rate: -0.017160 deg/s, posRepo size: 4
2021-08-14T13:41:07.297Z,1628948467.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.760010 m,
      bearing: 152.389853 deg,
      approachRate: -0.749609 m/s,
      LOS rate: -0.017160 deg/s,
      cmd update: -0.051479 deg/s,
      cmd heading: 152.411035 deg,
      new cmd heading: 152.553565 deg.

2021-08-14T13:41:09.646Z,1628948469.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:10.013Z,1628948470.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:10.013Z,1628948470.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:10.013Z,1628948470.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:10.014Z,1628948470.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:10.438Z,1628948470.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00D5D,184,80,80,88,FF
2021-08-14T13:41:10.438Z,1628948470.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:10.438Z,1628948470.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:10.465Z,1628948470.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:10.828Z,1628948470.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:11.631Z,1628948471.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00D2B,184,80,80,A6,FF
2021-08-14T13:41:11.632Z,1628948471.632 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:11.643Z,1628948471.643 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134112.14*5F

2021-08-14T13:41:12.160Z,1628948472.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.759995 m, bearing: 150.914327 deg, deltaT: 4.877931 s, approachRate: -0.615018 m/s, LOS rate: -0.302490 deg/s, posRepo size: 4
2021-08-14T13:41:12.162Z,1628948472.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.759995 m,
      bearing: 150.914327 deg,
      approachRate: -0.615018 m/s,
      LOS rate: -0.302490 deg/s,
      cmd update: -0.907470 deg/s,
      cmd heading: 152.159936 deg,
      new cmd heading: 152.136026 deg.

2021-08-14T13:41:14.516Z,1628948474.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:14.916Z,1628948474.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:14.916Z,1628948474.916 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:14.917Z,1628948474.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:14.918Z,1628948474.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:15.317Z,1628948475.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00D2B,184,80,80,A6,FF
2021-08-14T13:41:15.317Z,1628948475.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:15.317Z,1628948475.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:15.319Z,1628948475.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:15.704Z,1628948475.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:16.118Z,1628948476.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00CF8,184,80,80,A6,FF
2021-08-14T13:41:16.118Z,1628948476.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:16.537Z,1628948476.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134116.99*5E

2021-08-14T13:41:16.585Z,1628948476.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.699997 m, bearing: 151.217123 deg, deltaT: 4.489784 s, approachRate: -0.681547 m/s, LOS rate: 0.067441 deg/s, posRepo size: 4
2021-08-14T13:41:16.587Z,1628948476.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.699997 m,
      bearing: 151.217123 deg,
      approachRate: -0.681547 m/s,
      LOS rate: 0.067441 deg/s,
      cmd update: 0.202323 deg/s,
      cmd heading: 148.089815 deg,
      new cmd heading: 147.722983 deg.

2021-08-14T13:41:19.076Z,1628948479.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:19.345Z,1628948479.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:19.345Z,1628948479.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:19.346Z,1628948479.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:19.347Z,1628948479.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:19.750Z,1628948479.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00CF8,184,80,80,A6,FF
2021-08-14T13:41:19.750Z,1628948479.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:19.750Z,1628948479.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:19.753Z,1628948479.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:20.152Z,1628948480.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:20.558Z,1628948480.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00CC5,183,80,80,A6,FF
2021-08-14T13:41:20.558Z,1628948480.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:21.047Z,1628948481.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134121.42*5C

2021-08-14T13:41:21.137Z,1628948481.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.639999 m, bearing: 152.267688 deg, deltaT: 4.410008 s, approachRate: -0.693876 m/s, LOS rate: 0.238223 deg/s, posRepo size: 4
2021-08-14T13:41:21.139Z,1628948481.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.639999 m,
      bearing: 152.267688 deg,
      approachRate: -0.693876 m/s,
      LOS rate: 0.238223 deg/s,
      cmd update: 0.714669 deg/s,
      cmd heading: 148.979777 deg,
      new cmd heading: 149.091678 deg.

2021-08-14T13:41:23.104Z,1628948483.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:23.378Z,1628948483.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:23.378Z,1628948483.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:23.379Z,1628948483.379 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:23.380Z,1628948483.380 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:23.789Z,1628948483.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00CC5,183,80,80,A6,FF
2021-08-14T13:41:23.789Z,1628948483.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:23.789Z,1628948483.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:23.791Z,1628948483.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:24.191Z,1628948484.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:24.583Z,1628948484.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00C8D,183,80,80,A6,FF
2021-08-14T13:41:24.584Z,1628948484.584 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:25.109Z,1628948485.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134125.46*5C

2021-08-14T13:41:25.173Z,1628948485.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.279999 m, bearing: 152.782070 deg, deltaT: 4.007645 s, approachRate: -0.838398 m/s, LOS rate: 0.128350 deg/s, posRepo size: 4
2021-08-14T13:41:25.175Z,1628948485.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.279999 m,
      bearing: 152.782070 deg,
      approachRate: -0.838398 m/s,
      LOS rate: 0.128350 deg/s,
      cmd update: 0.385050 deg/s,
      cmd heading: 151.857458 deg,
      new cmd heading: 152.262339 deg.

2021-08-14T13:41:27.116Z,1628948487.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:27.421Z,1628948487.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:27.421Z,1628948487.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:27.421Z,1628948487.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:27.422Z,1628948487.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:27.825Z,1628948487.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00C8D,183,80,80,A6,FF
2021-08-14T13:41:27.825Z,1628948487.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:27.825Z,1628948487.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:27.827Z,1628948487.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:28.237Z,1628948488.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:28.642Z,1628948488.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00C5E,185,80,80,95,FF
2021-08-14T13:41:28.642Z,1628948488.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:29.074Z,1628948489.074 [Micromodem](INFO): Nmea in: $SNTTA,0.122766,,,,134129.50*4F

2021-08-14T13:41:29.166Z,1628948489.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.460007 m, bearing: 152.029520 deg, deltaT: 4.052817 s, approachRate: -0.695810 m/s, LOS rate: -0.185686 deg/s, posRepo size: 4
2021-08-14T13:41:29.168Z,1628948489.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.460007 m,
      bearing: 152.029520 deg,
      approachRate: -0.695810 m/s,
      LOS rate: -0.185686 deg/s,
      cmd update: -0.557057 deg/s,
      cmd heading: 153.418178 deg,
      new cmd heading: 153.613368 deg.

2021-08-14T13:41:31.479Z,1628948491.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:31.865Z,1628948491.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:31.865Z,1628948491.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:31.866Z,1628948491.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:31.867Z,1628948491.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:32.265Z,1628948492.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00C5E,185,80,80,95,FF
2021-08-14T13:41:32.265Z,1628948492.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:32.265Z,1628948492.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:32.267Z,1628948492.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:32.672Z,1628948492.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:33.502Z,1628948493.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134133.94*54

2021-08-14T13:41:34.313Z,1628948494.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:35.901Z,1628948495.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,95,FF
2021-08-14T13:41:35.901Z,1628948495.901 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,95,FF
2021-08-14T13:41:35.901Z,1628948495.901 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:41:37.180Z,1628948497.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:37.517Z,1628948497.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:37.517Z,1628948497.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:37.517Z,1628948497.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:37.518Z,1628948497.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:37.926Z,1628948497.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,95,FF
2021-08-14T13:41:37.926Z,1628948497.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:37.926Z,1628948497.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:37.928Z,1628948497.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:38.338Z,1628948498.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:38.737Z,1628948498.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00BEB,184,80,80,B7,FF
2021-08-14T13:41:38.737Z,1628948498.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:39.174Z,1628948499.174 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134139.60*55

2021-08-14T13:41:39.257Z,1628948499.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.560013 m, bearing: 152.612668 deg, deltaT: 10.144147 s, approachRate: -0.680195 m/s, LOS rate: 0.057486 deg/s, posRepo size: 4
2021-08-14T13:41:39.259Z,1628948499.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.560013 m,
      bearing: 152.612668 deg,
      approachRate: -0.680195 m/s,
      LOS rate: 0.057486 deg/s,
      cmd update: 0.172458 deg/s,
      cmd heading: 147.777989 deg,
      new cmd heading: 147.516872 deg.

2021-08-14T13:41:41.593Z,1628948501.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:41.957Z,1628948501.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:41.957Z,1628948501.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:41.957Z,1628948501.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:41.958Z,1628948501.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:42.366Z,1628948502.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00BEB,184,80,80,B7,FF
2021-08-14T13:41:42.366Z,1628948502.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:42.366Z,1628948502.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:42.368Z,1628948502.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:42.816Z,1628948502.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:43.177Z,1628948503.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00BB7,183,80,80,76,FF
2021-08-14T13:41:43.177Z,1628948503.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:43.609Z,1628948503.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134144.04*5D

2021-08-14T13:41:43.656Z,1628948503.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.440002 m, bearing: 153.566299 deg, deltaT: 4.454112 s, approachRate: -0.700479 m/s, LOS rate: 0.214101 deg/s, posRepo size: 4
2021-08-14T13:41:43.658Z,1628948503.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.440002 m,
      bearing: 153.566299 deg,
      approachRate: -0.700479 m/s,
      LOS rate: 0.214101 deg/s,
      cmd update: 0.642304 deg/s,
      cmd heading: 148.549560 deg,
      new cmd heading: 148.618118 deg.

2021-08-14T13:41:46.111Z,1628948506.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:46.413Z,1628948506.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:46.413Z,1628948506.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:46.413Z,1628948506.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:46.414Z,1628948506.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:46.817Z,1628948506.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00BB7,183,80,80,76,FF
2021-08-14T13:41:46.818Z,1628948506.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:46.818Z,1628948506.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:46.819Z,1628948506.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:47.229Z,1628948507.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:47.633Z,1628948507.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00B83,183,80,80,99,FF
2021-08-14T13:41:47.634Z,1628948507.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:48.093Z,1628948508.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134148.49*58

2021-08-14T13:41:48.150Z,1628948508.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.320007 m, bearing: 153.408275 deg, deltaT: 4.411792 s, approachRate: -0.707195 m/s, LOS rate: -0.035818 deg/s, posRepo size: 4
2021-08-14T13:41:48.157Z,1628948508.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.320007 m,
      bearing: 153.408275 deg,
      approachRate: -0.707195 m/s,
      LOS rate: -0.035818 deg/s,
      cmd update: -0.107455 deg/s,
      cmd heading: 151.383283 deg,
      new cmd heading: 151.691821 deg.

2021-08-14T13:41:50.482Z,1628948510.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:50.849Z,1628948510.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:50.849Z,1628948510.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:50.849Z,1628948510.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:50.850Z,1628948510.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:51.259Z,1628948511.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00B83,183,80,80,99,FF
2021-08-14T13:41:51.259Z,1628948511.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:51.259Z,1628948511.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:51.261Z,1628948511.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:51.660Z,1628948511.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:52.105Z,1628948512.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00B4E,183,80,80,9A,FF
2021-08-14T13:41:52.105Z,1628948512.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:52.501Z,1628948512.501 [Micromodem](INFO): Nmea in: $SNTTA,0.099952,,,,134152.93*44

2021-08-14T13:41:52.535Z,1628948512.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.139999 m, bearing: 154.596291 deg, deltaT: 4.462742 s, approachRate: -0.712568 m/s, LOS rate: 0.266208 deg/s, posRepo size: 4
2021-08-14T13:41:52.537Z,1628948512.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.139999 m,
      bearing: 154.596291 deg,
      approachRate: -0.712568 m/s,
      LOS rate: 0.266208 deg/s,
      cmd update: 0.798623 deg/s,
      cmd heading: 150.903819 deg,
      new cmd heading: 150.860527 deg.

2021-08-14T13:41:54.977Z,1628948514.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:55.293Z,1628948515.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:55.293Z,1628948515.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:55.293Z,1628948515.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:55.294Z,1628948515.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:41:55.741Z,1628948515.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00B4E,183,80,80,9A,FF
2021-08-14T13:41:55.742Z,1628948515.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:41:55.742Z,1628948515.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:41:55.745Z,1628948515.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:41:56.117Z,1628948516.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:41:56.505Z,1628948516.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00B16,183,80,80,9A,FF
2021-08-14T13:41:56.506Z,1628948516.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:41:56.950Z,1628948516.950 [Micromodem](INFO): Nmea in: $SNTTA,0.088292,,,,134157.42*4A

2021-08-14T13:41:57.012Z,1628948517.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.779999 m, bearing: 154.748823 deg, deltaT: 4.425164 s, approachRate: -0.759294 m/s, LOS rate: 0.034469 deg/s, posRepo size: 4
2021-08-14T13:41:57.014Z,1628948517.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.779999 m,
      bearing: 154.748823 deg,
      approachRate: -0.759294 m/s,
      LOS rate: 0.034469 deg/s,
      cmd update: 0.103408 deg/s,
      cmd heading: 154.437609 deg,
      new cmd heading: 154.800981 deg.

2021-08-14T13:41:59.367Z,1628948519.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:41:59.737Z,1628948519.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:41:59.737Z,1628948519.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:41:59.737Z,1628948519.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:41:59.738Z,1628948519.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:00.145Z,1628948520.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00B16,183,80,80,9A,FF
2021-08-14T13:42:00.145Z,1628948520.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:00.145Z,1628948520.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:00.147Z,1628948520.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:00.548Z,1628948520.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:00.997Z,1628948520.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00AE4,184,80,80,A9,FF
2021-08-14T13:42:00.998Z,1628948520.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:01.001Z,1628948521.001 [Micromodem](INFO): Nmea in: $SNTTA,0.110739,0.287348,,,134201.82*5E

2021-08-14T13:42:01.395Z,1628948521.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.779999 m, bearing: 154.504125 deg, deltaT: 4.576363 s, approachRate: -0.655542 m/s, LOS rate: -0.053470 deg/s, posRepo size: 4
2021-08-14T13:42:01.397Z,1628948521.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.779999 m,
      bearing: 154.504125 deg,
      approachRate: -0.655542 m/s,
      LOS rate: -0.053470 deg/s,
      cmd update: -0.160410 deg/s,
      cmd heading: 154.910514 deg,
      new cmd heading: 154.937885 deg.

2021-08-14T13:42:03.819Z,1628948523.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:04.181Z,1628948524.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:04.181Z,1628948524.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:04.182Z,1628948524.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:04.183Z,1628948524.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:04.591Z,1628948524.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00AE4,184,80,80,A9,FF
2021-08-14T13:42:04.591Z,1628948524.591 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:04.591Z,1628948524.591 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:04.593Z,1628948524.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:05.027Z,1628948525.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:05.401Z,1628948525.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00AB1,185,80,80,B4,FF
2021-08-14T13:42:05.401Z,1628948525.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:05.829Z,1628948525.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134206.27*59

2021-08-14T13:42:05.863Z,1628948525.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.720001 m, bearing: 154.476490 deg, deltaT: 4.284366 s, approachRate: -0.714224 m/s, LOS rate: -0.006450 deg/s, posRepo size: 4
2021-08-14T13:42:05.865Z,1628948525.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.720001 m,
      bearing: 154.476490 deg,
      approachRate: -0.714224 m/s,
      LOS rate: -0.006450 deg/s,
      cmd update: -0.019351 deg/s,
      cmd heading: 154.222592 deg,
      new cmd heading: 154.151274 deg.

2021-08-14T13:42:08.269Z,1628948528.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:08.631Z,1628948528.631 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:08.631Z,1628948528.631 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:08.631Z,1628948528.631 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:08.632Z,1628948528.632 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:09.052Z,1628948529.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00AB1,185,80,80,B4,FF
2021-08-14T13:42:09.053Z,1628948529.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:09.053Z,1628948529.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:09.055Z,1628948529.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:09.445Z,1628948529.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:09.843Z,1628948529.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00A7D,184,80,80,C6,FF
2021-08-14T13:42:09.843Z,1628948529.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:10.263Z,1628948530.263 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134210.73*5F

2021-08-14T13:42:10.290Z,1628948530.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 154.377834 deg, deltaT: 4.441058 s, approachRate: -0.702534 m/s, LOS rate: -0.022214 deg/s, posRepo size: 4
2021-08-14T13:42:10.292Z,1628948530.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.600006 m,
      bearing: 154.377834 deg,
      approachRate: -0.702534 m/s,
      LOS rate: -0.022214 deg/s,
      cmd update: -0.066643 deg/s,
      cmd heading: 154.136659 deg,
      new cmd heading: 154.128325 deg.

2021-08-14T13:42:12.699Z,1628948532.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:13.109Z,1628948533.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:13.109Z,1628948533.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:13.109Z,1628948533.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:13.110Z,1628948533.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:13.475Z,1628948533.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00A7D,184,80,80,C6,FF
2021-08-14T13:42:13.475Z,1628948533.475 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:13.475Z,1628948533.475 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:13.477Z,1628948533.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:13.877Z,1628948533.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:14.289Z,1628948534.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00A48,186,80,80,9F,FF
2021-08-14T13:42:14.289Z,1628948534.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:14.713Z,1628948534.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134215.15*5A

2021-08-14T13:42:14.746Z,1628948534.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.419998 m, bearing: 152.514928 deg, deltaT: 4.479371 s, approachRate: -0.709923 m/s, LOS rate: -0.415886 deg/s, posRepo size: 4
2021-08-14T13:42:14.749Z,1628948534.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.419998 m,
      bearing: 152.514928 deg,
      approachRate: -0.709923 m/s,
      LOS rate: -0.415886 deg/s,
      cmd update: -1.247657 deg/s,
      cmd heading: 153.838127 deg,
      new cmd heading: 153.811103 deg.

2021-08-14T13:42:17.174Z,1628948537.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:17.509Z,1628948537.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:17.509Z,1628948537.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:17.509Z,1628948537.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:17.510Z,1628948537.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:17.922Z,1628948537.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00A48,186,80,80,9F,FF
2021-08-14T13:42:17.922Z,1628948537.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:17.922Z,1628948537.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:17.923Z,1628948537.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:18.329Z,1628948538.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:18.397Z,1628948538.397 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T13:42:18.397Z,1628948538.397 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T13:42:18.397Z,1628948538.397 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T13:42:18.398Z,1628948538.398 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:42:18.398Z,1628948538.398 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T13:42:18.763Z,1628948538.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00A14,182,80,80,BB,FF
2021-08-14T13:42:18.763Z,1628948538.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:19.069Z,1628948539.069 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T13:42:19.070Z,1628948539.070 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T13:42:19.071Z,1628948539.071 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707218E7C40D8515B6A7BFC2E6E362162FE53B1248195E2F90616FFD16C7D0E6E82FC1A7F4
2021-08-14T13:42:19.071Z,1628948539.071 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T13:42:19.424Z,1628948539.424 [Micromodem](INFO): Nmea in: $SNTA,0.097772,,,,134219.60*46

2021-08-14T13:42:19.425Z,1628948539.425 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTA,0.097772,,,,134219.60*46
 expected 12
2021-08-14T13:42:19.425Z,1628948539.425 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T13:42:19.490Z,1628948539.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 154.727772 deg, deltaT: 4.881823 s, approachRate: -0.639103 m/s, LOS rate: 0.453282 deg/s, posRepo size: 4
2021-08-14T13:42:19.496Z,1628948539.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.300011 m,
      bearing: 154.727772 deg,
      approachRate: -0.639103 m/s,
      LOS rate: 0.453282 deg/s,
      cmd update: 1.359847 deg/s,
      cmd heading: 147.757530 deg,
      new cmd heading: 147.411422 deg.

2021-08-14T13:42:20.621Z,1628948540.621 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T13:42:21.037Z,1628948541.037 [Micromodem](INFO): Nmea in: $CADRQ,134220,1,10,0,64,1*70

2021-08-14T13:42:21.039Z,1628948541.039 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*39

2021-08-14T13:42:21.414Z,1628948541.414 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T13:42:21.415Z,1628948541.415 [Micromodem](ERROR): TXD response from modem unexpected: $CACYC,0,1,10,1,0,3*69

2021-08-14T13:42:21.833Z,1628948541.833 [Micromodem](INFO): Nmea in: $CADRQ,134221,1,10,0,64,1*71

2021-08-14T13:42:21.833Z,1628948541.833 [Micromodem](ERROR): TXD response from modem unexpected: $CADRQ,134221,1,10,0,64,1*71

2021-08-14T13:42:21.918Z,1628948541.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:22.236Z,1628948542.236 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:22.237Z,1628948542.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:22.237Z,1628948542.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:22.238Z,1628948542.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:22.244Z,1628948542.244 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:42:22.633Z,1628948542.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00A14,182,80,80,BB,FF
2021-08-14T13:42:22.633Z,1628948542.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:22.634Z,1628948542.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:22.635Z,1628948542.635 [Micromodem](INFO): Nmea in: $CADRQ,134222,1,10,0,64,2*71

2021-08-14T13:42:22.637Z,1628948542.637 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T13:42:23.047Z,1628948543.047 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:42:23.060Z,1628948543.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:23.439Z,1628948543.439 [Micromodem](INFO): Nmea in: $CADRQ,134224,1,10,0,64,3*76

2021-08-14T13:42:23.439Z,1628948543.439 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,134224,1,10,0,64,3*76

2021-08-14T13:42:23.841Z,1628948543.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,009D9,183,80,80,7B,FF
2021-08-14T13:42:23.842Z,1628948543.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:23.847Z,1628948543.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:24.269Z,1628948544.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134224.74*5F

2021-08-14T13:42:24.331Z,1628948544.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.760002 m, bearing: 153.089975 deg, deltaT: 4.686882 s, approachRate: -0.755301 m/s, LOS rate: -0.349443 deg/s, posRepo size: 4
2021-08-14T13:42:24.338Z,1628948544.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.760002 m,
      bearing: 153.089975 deg,
      approachRate: -0.755301 m/s,
      LOS rate: -0.349443 deg/s,
      cmd update: -1.048329 deg/s,
      cmd heading: 154.103948 deg,
      new cmd heading: 154.718412 deg.

2021-08-14T13:42:26.791Z,1628948546.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:27.133Z,1628948547.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:27.133Z,1628948547.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:27.133Z,1628948547.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:27.134Z,1628948547.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:27.563Z,1628948547.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,009D9,183,80,80,7B,FF
2021-08-14T13:42:27.563Z,1628948547.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:27.563Z,1628948547.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:27.566Z,1628948547.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:27.957Z,1628948547.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:28.369Z,1628948548.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,009A7,183,80,80,BC,FF
2021-08-14T13:42:28.370Z,1628948548.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:28.793Z,1628948548.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134229.24*57

2021-08-14T13:42:28.815Z,1628948548.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.760002 m, bearing: 154.057280 deg, deltaT: 4.535214 s, approachRate: -0.661490 m/s, LOS rate: 0.213288 deg/s, posRepo size: 4
2021-08-14T13:42:28.818Z,1628948548.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.760002 m,
      bearing: 154.057280 deg,
      approachRate: -0.661490 m/s,
      LOS rate: 0.213288 deg/s,
      cmd update: 0.639863 deg/s,
      cmd heading: 149.320099 deg,
      new cmd heading: 148.929656 deg.

2021-08-14T13:42:31.280Z,1628948551.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:31.593Z,1628948551.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:31.593Z,1628948551.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:31.593Z,1628948551.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:31.594Z,1628948551.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:32.009Z,1628948552.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,009A7,183,80,80,BC,FF
2021-08-14T13:42:32.009Z,1628948552.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:32.009Z,1628948552.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:32.011Z,1628948552.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:32.415Z,1628948552.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:32.851Z,1628948552.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,00970,183,80,80,B0,FF
2021-08-14T13:42:32.851Z,1628948552.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:33.269Z,1628948553.269 [Micromodem](INFO): Nmea in: $SNTTA,0.080876,,,,134233.68*4B

2021-08-14T13:42:33.344Z,1628948553.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.459999 m, bearing: 155.327777 deg, deltaT: 4.524056 s, approachRate: -0.729435 m/s, LOS rate: 0.280831 deg/s, posRepo size: 4
2021-08-14T13:42:33.346Z,1628948553.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.459999 m,
      bearing: 155.327777 deg,
      approachRate: -0.729435 m/s,
      LOS rate: 0.280831 deg/s,
      cmd update: 0.842494 deg/s,
      cmd heading: 152.212167 deg,
      new cmd heading: 152.455875 deg.

2021-08-14T13:42:35.705Z,1628948555.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:36.052Z,1628948556.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:36.053Z,1628948556.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:36.053Z,1628948556.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:36.055Z,1628948556.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:36.450Z,1628948556.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,00970,183,80,80,B0,FF
2021-08-14T13:42:36.450Z,1628948556.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:36.450Z,1628948556.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:36.453Z,1628948556.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:36.857Z,1628948556.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:37.262Z,1628948557.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,0093E,183,80,80,A8,FF
2021-08-14T13:42:37.263Z,1628948557.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:37.701Z,1628948557.701 [Micromodem](INFO): Nmea in: $SNTTA,0.079046,,,,134238.13*41

2021-08-14T13:42:37.762Z,1628948557.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 155.024189 deg, deltaT: 4.388027 s, approachRate: -0.683677 m/s, LOS rate: -0.069186 deg/s, posRepo size: 4
2021-08-14T13:42:37.792Z,1628948557.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.460007 m,
      bearing: 155.024189 deg,
      approachRate: -0.683677 m/s,
      LOS rate: -0.069186 deg/s,
      cmd update: -0.207557 deg/s,
      cmd heading: 155.912551 deg,
      new cmd heading: 156.251353 deg.

2021-08-14T13:42:40.324Z,1628948560.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:40.527Z,1628948560.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:40.527Z,1628948560.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:40.527Z,1628948560.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:40.528Z,1628948560.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:40.937Z,1628948560.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,0093E,183,80,80,A8,FF
2021-08-14T13:42:40.937Z,1628948560.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:40.938Z,1628948560.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:40.952Z,1628948560.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:41.343Z,1628948561.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:41.737Z,1628948561.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0090E,184,80,80,A9,FF
2021-08-14T13:42:41.737Z,1628948561.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:42.158Z,1628948562.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134242.63*59

2021-08-14T13:42:42.207Z,1628948562.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.580002 m, bearing: 155.668385 deg, deltaT: 4.433321 s, approachRate: -0.649627 m/s, LOS rate: 0.145308 deg/s, posRepo size: 4
2021-08-14T13:42:42.209Z,1628948562.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.580002 m,
      bearing: 155.668385 deg,
      approachRate: -0.649627 m/s,
      LOS rate: 0.145308 deg/s,
      cmd update: 0.435923 deg/s,
      cmd heading: 154.993226 deg,
      new cmd heading: 154.905514 deg.

2021-08-14T13:42:44.809Z,1628948564.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:45.051Z,1628948565.051 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:45.052Z,1628948565.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:45.053Z,1628948565.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:45.054Z,1628948565.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:45.449Z,1628948565.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,0090E,184,80,80,A9,FF
2021-08-14T13:42:45.450Z,1628948565.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:45.450Z,1628948565.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:45.452Z,1628948565.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:45.849Z,1628948565.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:46.266Z,1628948566.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00365,185,80,80,9A,FF
2021-08-14T13:42:46.266Z,1628948566.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:46.685Z,1628948566.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134247.12*5A

2021-08-14T13:42:46.969Z,1628948566.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.639997 m, bearing: 154.823094 deg, deltaT: 4.577020 s, approachRate: -18.994892 m/s, LOS rate: -0.184681 deg/s, posRepo size: 4
2021-08-14T13:42:46.969Z,1628948566.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.64 m.
2021-08-14T13:42:46.971Z,1628948566.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.639997 m,
      bearing: 154.823094 deg,
      approachRate: -18.994892 m/s,
      LOS rate: -0.184681 deg/s,
      cmd update: -0.554044 deg/s,
      cmd heading: 156.988485 deg,
      new cmd heading: 157.245497 deg.

2021-08-14T13:42:47.258Z,1628948567.258 [PowerOnly](INFO): Powering up loadControl
2021-08-14T13:42:47.353Z,1628948567.353 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:42:47.353Z,1628948567.353 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:42:47.353Z,1628948567.353 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:42:47.354Z,1628948567.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:42:47.354Z,1628948567.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:42:47.354Z,1628948567.354 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:42:47.665Z,1628948567.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:42:47.665Z,1628948567.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:42:47.666Z,1628948567.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:42:47.666Z,1628948567.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:42:48.872Z,1628948568.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:49.221Z,1628948569.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:49.221Z,1628948569.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:49.221Z,1628948569.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:49.222Z,1628948569.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:49.629Z,1628948569.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00365,185,80,80,9A,FF
2021-08-14T13:42:49.629Z,1628948569.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:49.629Z,1628948569.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:49.631Z,1628948569.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:50.059Z,1628948570.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:42:50.437Z,1628948570.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,008A7,186,80,80,6E,FF
2021-08-14T13:42:50.438Z,1628948570.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:42:50.496Z,1628948570.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:42:50.884Z,1628948570.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134251.30*5D

2021-08-14T13:42:51.226Z,1628948571.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.400009 m, bearing: 155.216254 deg, deltaT: 4.128158 s, approachRate: 19.563208 m/s, LOS rate: 0.095238 deg/s, posRepo size: 4
2021-08-14T13:42:51.229Z,1628948571.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.400009 m,
      bearing: 155.216254 deg,
      approachRate: 19.563208 m/s,
      LOS rate: 0.095238 deg/s,
      cmd update: 0.285715 deg/s,
      cmd heading: 154.699431 deg,
      new cmd heading: 154.292986 deg.

2021-08-14T13:42:51.453Z,1628948571.453 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:42:51.453Z,1628948571.453 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:42:51.454Z,1628948571.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:42:51.454Z,1628948571.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:42:51.454Z,1628948571.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:42:51.454Z,1628948571.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:42:51.853Z,1628948571.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:42:51.853Z,1628948571.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:42:51.853Z,1628948571.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:42:51.854Z,1628948571.854 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:42:53.046Z,1628948573.046 [Micromodem](INFO): Nmea in: $CAERR,134254,DATA_TIMEOUT,3*49

2021-08-14T13:42:53.311Z,1628948573.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:53.485Z,1628948573.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:42:53.485Z,1628948573.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:42:53.485Z,1628948573.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:42:53.486Z,1628948573.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:42:53.491Z,1628948573.491 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-14T13:42:53.877Z,1628948573.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,008A7,186,80,80,6E,FF
2021-08-14T13:42:53.877Z,1628948573.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:42:53.878Z,1628948573.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:42:53.879Z,1628948573.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:42:55.910Z,1628948575.910 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-14T13:42:55.910Z,1628948575.910 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-14T13:42:56.001Z,1628948576.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:56.307Z,1628948576.307 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,134254.363304,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6C

2021-08-14T13:42:56.307Z,1628948576.307 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,134254.363304,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6C

2021-08-14T13:42:58.805Z,1628948578.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:42:59.592Z,1628948579.592 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.105891
2021-08-14T13:43:01.644Z,1628948581.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:02.008Z,1628948582.008 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:02.008Z,1628948582.008 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:02.009Z,1628948582.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:02.010Z,1628948582.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:02.417Z,1628948582.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,008A7,186,80,80,6E,FF
2021-08-14T13:43:02.417Z,1628948582.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:02.417Z,1628948582.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:04.173Z,1628948584.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:04.911Z,1628948584.911 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:05.300Z,1628948585.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:05.734Z,1628948585.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00803,186,80,80,90,FF
2021-08-14T13:43:05.735Z,1628948585.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:06.181Z,1628948586.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134306.59*51

2021-08-14T13:43:06.207Z,1628948586.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.559998 m, bearing: 156.351663 deg, deltaT: 15.478359 s, approachRate: -0.635727 m/s, LOS rate: 0.073355 deg/s, posRepo size: 4
2021-08-14T13:43:06.209Z,1628948586.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.559998 m,
      bearing: 156.351663 deg,
      approachRate: -0.635727 m/s,
      LOS rate: 0.073355 deg/s,
      cmd update: 0.220064 deg/s,
      cmd heading: 159.122024 deg,
      new cmd heading: 159.189065 deg.

2021-08-14T13:43:08.608Z,1628948588.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:09.050Z,1628948589.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:09.050Z,1628948589.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:09.051Z,1628948589.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:09.061Z,1628948589.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:09.421Z,1628948589.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00803,186,80,80,90,FF
2021-08-14T13:43:09.421Z,1628948589.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:09.421Z,1628948589.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:09.423Z,1628948589.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:09.817Z,1628948589.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:10.215Z,1628948590.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,007D1,186,80,80,65,FF
2021-08-14T13:43:10.215Z,1628948590.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:10.685Z,1628948590.685 [Micromodem](INFO): Nmea in: $SNTTA,0.057847,,,,134311.10*4D

2021-08-14T13:43:10.710Z,1628948590.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.560005 m, bearing: 156.388765 deg, deltaT: 4.473856 s, approachRate: -0.670561 m/s, LOS rate: 0.008293 deg/s, posRepo size: 4
2021-08-14T13:43:10.712Z,1628948590.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.560005 m,
      bearing: 156.388765 deg,
      approachRate: -0.670561 m/s,
      LOS rate: 0.008293 deg/s,
      cmd update: 0.024879 deg/s,
      cmd heading: 160.106568 deg,
      new cmd heading: 160.164714 deg.

2021-08-14T13:43:13.178Z,1628948593.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:13.473Z,1628948593.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:13.473Z,1628948593.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:13.473Z,1628948593.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:13.474Z,1628948593.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:13.891Z,1628948593.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,007D1,186,80,80,65,FF
2021-08-14T13:43:13.893Z,1628948593.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:13.893Z,1628948593.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:13.896Z,1628948593.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:14.273Z,1628948594.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:14.693Z,1628948594.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,007A0,184,80,80,99,FF
2021-08-14T13:43:14.694Z,1628948594.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:15.141Z,1628948595.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134315.57*5D

2021-08-14T13:43:15.199Z,1628948595.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.620003 m, bearing: 157.818979 deg, deltaT: 4.265069 s, approachRate: -0.689321 m/s, LOS rate: 0.335332 deg/s, posRepo size: 4
2021-08-14T13:43:15.218Z,1628948595.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.620003 m,
      bearing: 157.818979 deg,
      approachRate: -0.689321 m/s,
      LOS rate: 0.335332 deg/s,
      cmd update: 1.005996 deg/s,
      cmd heading: 160.212677 deg,
      new cmd heading: 160.224831 deg.

2021-08-14T13:43:17.582Z,1628948597.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:17.961Z,1628948597.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:17.961Z,1628948597.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:17.961Z,1628948597.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:17.962Z,1628948597.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:18.354Z,1628948598.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,007A0,184,80,80,99,FF
2021-08-14T13:43:18.354Z,1628948598.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:18.354Z,1628948598.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:18.355Z,1628948598.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:18.778Z,1628948598.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:19.298Z,1628948599.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00771,186,80,80,BD,FF
2021-08-14T13:43:19.298Z,1628948599.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:19.717Z,1628948599.717 [Micromodem](INFO): Nmea in: $SNTTA,0.074933,,,,134320.03*4E

2021-08-14T13:43:19.761Z,1628948599.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 157.783695 deg, deltaT: 4.636844 s, approachRate: -0.608172 m/s, LOS rate: -0.007610 deg/s, posRepo size: 4
2021-08-14T13:43:19.764Z,1628948599.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 157.783695 deg,
      approachRate: -0.608172 m/s,
      LOS rate: -0.007610 deg/s,
      cmd update: -0.022829 deg/s,
      cmd heading: 164.877249 deg,
      new cmd heading: 165.291881 deg.

2021-08-14T13:43:22.161Z,1628948602.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:22.533Z,1628948602.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:22.533Z,1628948602.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:22.533Z,1628948602.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:22.534Z,1628948602.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:22.949Z,1628948602.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00771,186,80,80,BD,FF
2021-08-14T13:43:22.949Z,1628948602.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:22.949Z,1628948602.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:22.959Z,1628948602.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:23.361Z,1628948603.361 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:43:23.598Z,1628948603.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:23.973Z,1628948603.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,0073B,186,80,80,C8,FF
2021-08-14T13:43:23.974Z,1628948603.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:24.398Z,1628948604.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134324.64*5F

2021-08-14T13:43:24.399Z,1628948604.399 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:43:24.466Z,1628948604.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 157.308136 deg, deltaT: 4.643763 s, approachRate: -0.697710 m/s, LOS rate: -0.102408 deg/s, posRepo size: 4
2021-08-14T13:43:24.472Z,1628948604.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.560005 m,
      bearing: 157.308136 deg,
      approachRate: -0.697710 m/s,
      LOS rate: -0.102408 deg/s,
      cmd update: -0.307224 deg/s,
      cmd heading: 164.771237 deg,
      new cmd heading: 164.760405 deg.

2021-08-14T13:43:24.998Z,1628948604.998 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T13:43:24.998Z,1628948604.998 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T13:43:24.999Z,1628948604.999 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707218E7C40D8515B6A7BFC2E6E362162FE53B1248195E2F90616FFD16C7D0E6E82FC1A7F4
2021-08-14T13:43:24.999Z,1628948604.999 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T13:43:25.754Z,1628948605.754 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T13:43:26.125Z,1628948606.125 [Micromodem](INFO): Nmea in: $CADRQ,134326,1,10,0,64,1*77

2021-08-14T13:43:26.125Z,1628948606.125 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*39

2021-08-14T13:43:26.510Z,1628948606.510 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:43:26.566Z,1628948606.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:26.928Z,1628948606.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:26.928Z,1628948606.928 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:26.929Z,1628948606.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:26.931Z,1628948606.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:26.938Z,1628948606.938 [Micromodem](INFO): Nmea in: $CADRQ,134327,1,10,0,64,2*75

2021-08-14T13:43:26.957Z,1628948606.957 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T13:43:27.325Z,1628948607.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,0073B,186,80,80,C8,FF
2021-08-14T13:43:27.326Z,1628948607.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:27.326Z,1628948607.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:27.327Z,1628948607.327 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:43:27.329Z,1628948607.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:27.723Z,1628948607.723 [Micromodem](INFO): Nmea in: $CADRQ,134328,1,10,0,64,3*7B

2021-08-14T13:43:27.723Z,1628948607.723 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,134328,1,10,0,64,3*7B

2021-08-14T13:43:28.129Z,1628948608.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,0070A,185,80,80,54,FF
2021-08-14T13:43:28.129Z,1628948608.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:28.139Z,1628948608.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:28.561Z,1628948608.561 [Micromodem](INFO): Nmea in: $SNTTA,0.061597,,,,134329.00*42

2021-08-14T13:43:28.604Z,1628948608.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 156.797770 deg, deltaT: 4.195374 s, approachRate: -0.700772 m/s, LOS rate: -0.121650 deg/s, posRepo size: 4
2021-08-14T13:43:28.606Z,1628948608.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.620003 m,
      bearing: 156.797770 deg,
      approachRate: -0.700772 m/s,
      LOS rate: -0.121650 deg/s,
      cmd update: -0.364949 deg/s,
      cmd heading: 163.482305 deg,
      new cmd heading: 163.360385 deg.

2021-08-14T13:43:31.121Z,1628948611.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:31.369Z,1628948611.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:31.369Z,1628948611.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:31.369Z,1628948611.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:31.370Z,1628948611.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:31.805Z,1628948611.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,0070A,185,80,80,54,FF
2021-08-14T13:43:31.805Z,1628948611.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:31.805Z,1628948611.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:31.807Z,1628948611.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:32.193Z,1628948612.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:32.593Z,1628948612.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,006D9,186,80,80,95,FF
2021-08-14T13:43:32.593Z,1628948612.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:33.057Z,1628948613.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134333.48*57

2021-08-14T13:43:33.127Z,1628948613.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.680000 m, bearing: 156.577620 deg, deltaT: 4.474723 s, approachRate: -0.657024 m/s, LOS rate: -0.049199 deg/s, posRepo size: 4
2021-08-14T13:43:33.129Z,1628948613.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.680000 m,
      bearing: 156.577620 deg,
      approachRate: -0.657024 m/s,
      LOS rate: -0.049199 deg/s,
      cmd update: -0.147596 deg/s,
      cmd heading: 161.849282 deg,
      new cmd heading: 161.679355 deg.

2021-08-14T13:43:35.471Z,1628948615.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:35.833Z,1628948615.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:35.833Z,1628948615.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:35.833Z,1628948615.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:35.834Z,1628948615.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:36.283Z,1628948616.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,006D9,186,80,80,95,FF
2021-08-14T13:43:36.283Z,1628948616.283 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:36.283Z,1628948616.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:36.285Z,1628948616.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:36.685Z,1628948616.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:37.113Z,1628948617.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,006AA,186,80,80,A7,FF
2021-08-14T13:43:37.113Z,1628948617.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:37.545Z,1628948617.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134337.96*50

2021-08-14T13:43:37.592Z,1628948617.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.860008 m, bearing: 155.748558 deg, deltaT: 4.541313 s, approachRate: -0.620964 m/s, LOS rate: -0.182560 deg/s, posRepo size: 4
2021-08-14T13:43:37.594Z,1628948617.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.860008 m,
      bearing: 155.748558 deg,
      approachRate: -0.620964 m/s,
      LOS rate: -0.182560 deg/s,
      cmd update: -0.547680 deg/s,
      cmd heading: 161.178986 deg,
      new cmd heading: 161.121601 deg.

2021-08-14T13:43:40.014Z,1628948620.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:40.377Z,1628948620.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:40.377Z,1628948620.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:40.377Z,1628948620.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:40.378Z,1628948620.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:40.785Z,1628948620.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,006AA,186,80,80,A7,FF
2021-08-14T13:43:40.785Z,1628948620.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:40.786Z,1628948620.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:40.787Z,1628948620.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:41.194Z,1628948621.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:41.585Z,1628948621.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,00678,186,80,80,9C,FF
2021-08-14T13:43:41.585Z,1628948621.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:42.049Z,1628948622.049 [Micromodem](INFO): Nmea in: $SNTTA,0.049615,,,,134342.46*4E

2021-08-14T13:43:42.090Z,1628948622.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.860001 m, bearing: 155.995251 deg, deltaT: 4.426004 s, approachRate: -0.677814 m/s, LOS rate: 0.055737 deg/s, posRepo size: 4
2021-08-14T13:43:42.093Z,1628948622.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.860001 m,
      bearing: 155.995251 deg,
      approachRate: -0.677814 m/s,
      LOS rate: 0.055737 deg/s,
      cmd update: 0.167211 deg/s,
      cmd heading: 158.759580 deg,
      new cmd heading: 158.502184 deg.

2021-08-14T13:43:44.626Z,1628948624.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:44.821Z,1628948624.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:44.821Z,1628948624.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:44.821Z,1628948624.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:44.822Z,1628948624.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:45.221Z,1628948625.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,00678,186,80,80,9C,FF
2021-08-14T13:43:45.221Z,1628948625.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:45.221Z,1628948625.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:45.223Z,1628948625.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:45.633Z,1628948625.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:46.044Z,1628948626.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,00644,186,80,80,74,FF
2021-08-14T13:43:46.045Z,1628948626.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:46.489Z,1628948626.489 [Micromodem](INFO): Nmea in: $SNTTA,0.052579,,,,134346.90*42

2021-08-14T13:43:46.518Z,1628948626.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 155.524336 deg, deltaT: 4.474300 s, approachRate: -0.697316 m/s, LOS rate: -0.105249 deg/s, posRepo size: 4
2021-08-14T13:43:46.521Z,1628948626.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.739998 m,
      bearing: 155.524336 deg,
      approachRate: -0.697316 m/s,
      LOS rate: -0.105249 deg/s,
      cmd update: -0.315746 deg/s,
      cmd heading: 159.509140 deg,
      new cmd heading: 159.578585 deg.

2021-08-14T13:43:49.181Z,1628948629.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:49.413Z,1628948629.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:49.413Z,1628948629.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:49.413Z,1628948629.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:49.414Z,1628948629.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:49.811Z,1628948629.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,00644,186,80,80,74,FF
2021-08-14T13:43:49.811Z,1628948629.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:49.811Z,1628948629.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:49.813Z,1628948629.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:50.223Z,1628948630.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:50.609Z,1628948630.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00610,186,80,80,82,FF
2021-08-14T13:43:50.609Z,1628948630.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:51.069Z,1628948631.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134351.49*52

2021-08-14T13:43:51.323Z,1628948631.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.619995 m, bearing: 155.617746 deg, deltaT: 4.585587 s, approachRate: -0.680393 m/s, LOS rate: 0.020370 deg/s, posRepo size: 4
2021-08-14T13:43:51.325Z,1628948631.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 155.617746 deg,
      approachRate: -0.680393 m/s,
      LOS rate: 0.020370 deg/s,
      cmd update: 0.061111 deg/s,
      cmd heading: 158.064125 deg,
      new cmd heading: 157.861107 deg.

2021-08-14T13:43:53.543Z,1628948633.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:53.924Z,1628948633.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:53.924Z,1628948633.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:53.925Z,1628948633.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:53.926Z,1628948633.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:54.321Z,1628948634.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00610,186,80,80,82,FF
2021-08-14T13:43:54.321Z,1628948634.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:54.321Z,1628948634.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:54.323Z,1628948634.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:43:54.724Z,1628948634.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:43:55.129Z,1628948635.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,005E0,184,80,80,98,FF
2021-08-14T13:43:55.130Z,1628948635.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:43:55.581Z,1628948635.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134356.00*58

2021-08-14T13:43:56.230Z,1628948636.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.739998 m, bearing: 157.783326 deg, deltaT: 4.558839 s, approachRate: -0.631739 m/s, LOS rate: 0.475029 deg/s, posRepo size: 4
2021-08-14T13:43:56.233Z,1628948636.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.739998 m,
      bearing: 157.783326 deg,
      approachRate: -0.631739 m/s,
      LOS rate: 0.475029 deg/s,
      cmd update: 1.425086 deg/s,
      cmd heading: 158.342613 deg,
      new cmd heading: 158.403346 deg.

2021-08-14T13:43:57.221Z,1628948637.221 [Micromodem](INFO): Nmea in: $CAERR,134358,DATA_TIMEOUT,3*44

2021-08-14T13:43:57.629Z,1628948637.629 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-14T13:43:58.252Z,1628948638.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:43:58.433Z,1628948638.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:43:58.433Z,1628948638.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:43:58.434Z,1628948638.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:43:58.434Z,1628948638.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:43:58.825Z,1628948638.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,005E0,184,80,80,98,FF
2021-08-14T13:43:58.825Z,1628948638.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:43:58.825Z,1628948638.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:43:58.827Z,1628948638.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:00.447Z,1628948640.447 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-14T13:44:00.447Z,1628948640.447 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-14T13:44:00.847Z,1628948640.847 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,134358.689081,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6E

2021-08-14T13:44:00.848Z,1628948640.848 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,134358.689081,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6E

2021-08-14T13:44:00.951Z,1628948640.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:02.975Z,1628948642.975 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T13:44:03.294Z,1628948643.294 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T13:44:03.694Z,1628948643.694 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814134403.460730,06,32767,45,0107,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,16.4,5.71,15,-2.71,-01,-0.74,49,14500,4000*47

2021-08-14T13:44:03.694Z,1628948643.694 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814134403.460730,06,32767,45,0107,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,16.4,5.71,15,-2.71,-01,-0.74,49,14500,4000*47

2021-08-14T13:44:03.778Z,1628948643.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:04.508Z,1628948644.508 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073539
2021-08-14T13:44:06.659Z,1628948646.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:07.006Z,1628948647.006 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:07.006Z,1628948647.006 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:07.007Z,1628948647.007 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:07.008Z,1628948647.008 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:07.414Z,1628948647.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,005E0,184,80,80,98,FF
2021-08-14T13:44:07.414Z,1628948647.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:07.415Z,1628948647.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:09.465Z,1628948649.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:09.838Z,1628948649.838 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:10.244Z,1628948650.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:10.653Z,1628948650.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00531,187,80,80,63,FF
2021-08-14T13:44:10.654Z,1628948650.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:11.161Z,1628948651.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134411.51*58

2021-08-14T13:44:11.239Z,1628948651.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.240002 m, bearing: 150.152256 deg, deltaT: 15.708137 s, approachRate: -0.668443 m/s, LOS rate: -0.485804 deg/s, posRepo size: 4
2021-08-14T13:44:11.246Z,1628948651.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.240002 m,
      bearing: 150.152256 deg,
      approachRate: -0.668443 m/s,
      LOS rate: -0.485804 deg/s,
      cmd update: -1.457411 deg/s,
      cmd heading: 180.703081 deg,
      new cmd heading: 181.147480 deg.

2021-08-14T13:44:13.579Z,1628948653.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:13.977Z,1628948653.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:13.977Z,1628948653.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:13.977Z,1628948653.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:13.978Z,1628948653.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:14.365Z,1628948654.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00531,187,80,80,63,FF
2021-08-14T13:44:14.365Z,1628948654.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:14.366Z,1628948654.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:14.367Z,1628948654.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:14.781Z,1628948654.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:15.181Z,1628948655.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00505,188,80,80,77,FF
2021-08-14T13:44:15.181Z,1628948655.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:15.629Z,1628948655.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134416.04*5F

2021-08-14T13:44:15.677Z,1628948655.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 149.301706 deg, deltaT: 4.468259 s, approachRate: -0.590835 m/s, LOS rate: -0.190354 deg/s, posRepo size: 4
2021-08-14T13:44:15.677Z,1628948655.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.60 m.
2021-08-14T13:44:15.678Z,1628948655.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.60 m.
2021-08-14T13:44:15.678Z,1628948655.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T13:44:15.680Z,1628948655.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.599998 m,
      bearing: 149.301706 deg,
      approachRate: -0.590835 m/s,
      LOS rate: -0.190354 deg/s,
      cmd update: -0.571061 deg/s,
      cmd heading: 174.149595 deg,
      new cmd heading: 173.781123 deg.

2021-08-14T13:44:16.081Z,1628948656.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:44:16.081Z,1628948656.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:44:16.081Z,1628948656.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:44:16.082Z,1628948656.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:44:16.082Z,1628948656.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:44:16.082Z,1628948656.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:44:16.495Z,1628948656.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:44:16.495Z,1628948656.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:44:16.495Z,1628948656.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:44:16.495Z,1628948656.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:44:18.094Z,1628948658.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:18.437Z,1628948658.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:18.437Z,1628948658.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:18.437Z,1628948658.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:18.438Z,1628948658.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:18.857Z,1628948658.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00505,188,80,80,77,FF
2021-08-14T13:44:18.857Z,1628948658.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:18.857Z,1628948658.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:18.859Z,1628948658.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:19.261Z,1628948659.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:19.665Z,1628948659.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,004D6,189,80,80,98,FF
2021-08-14T13:44:19.665Z,1628948659.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:19.686Z,1628948659.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:20.106Z,1628948660.106 [Micromodem](INFO): Nmea in: $SNTTA,0.041718,,,,134420.54*4A

2021-08-14T13:44:20.147Z,1628948660.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 149.164474 deg, deltaT: 4.259697 s, approachRate: -0.662019 m/s, LOS rate: -0.032216 deg/s, posRepo size: 4
2021-08-14T13:44:20.149Z,1628948660.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 149.164474 deg,
      approachRate: -0.662019 m/s,
      LOS rate: -0.032216 deg/s,
      cmd update: -0.096649 deg/s,
      cmd heading: 171.717233 deg,
      new cmd heading: 171.452591 deg.

2021-08-14T13:44:22.500Z,1628948662.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:22.928Z,1628948662.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:22.929Z,1628948662.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:22.929Z,1628948662.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:22.931Z,1628948662.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:23.293Z,1628948663.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,004D6,189,80,80,98,FF
2021-08-14T13:44:23.293Z,1628948663.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:23.293Z,1628948663.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:23.295Z,1628948663.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:23.712Z,1628948663.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:24.133Z,1628948664.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,004A8,186,80,80,67,FF
2021-08-14T13:44:24.134Z,1628948664.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:24.211Z,1628948664.211 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:24.549Z,1628948664.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134424.97*54

2021-08-14T13:44:24.591Z,1628948664.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 149.164419 deg, deltaT: 4.529435 s, approachRate: -0.609347 m/s, LOS rate: -0.000012 deg/s, posRepo size: 4
2021-08-14T13:44:24.593Z,1628948664.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.020000 m,
      bearing: 149.164419 deg,
      approachRate: -0.609347 m/s,
      LOS rate: -0.000012 deg/s,
      cmd update: -0.000036 deg/s,
      cmd heading: 171.280443 deg,
      new cmd heading: 171.242897 deg.

2021-08-14T13:44:27.132Z,1628948667.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:27.361Z,1628948667.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:27.361Z,1628948667.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:27.361Z,1628948667.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:27.362Z,1628948667.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:27.774Z,1628948667.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,004A8,186,80,80,67,FF
2021-08-14T13:44:27.774Z,1628948667.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:27.774Z,1628948667.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:27.777Z,1628948667.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:28.173Z,1628948668.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:28.589Z,1628948668.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00477,187,80,80,6F,FF
2021-08-14T13:44:28.589Z,1628948668.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:28.658Z,1628948668.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:29.045Z,1628948669.045 [Micromodem](INFO): Nmea in: $SNTTA,0.034769,,,,134429.45*47

2021-08-14T13:44:29.112Z,1628948669.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 144.915154 deg, deltaT: 4.442137 s, approachRate: -0.661844 m/s, LOS rate: -0.956581 deg/s, posRepo size: 4
2021-08-14T13:44:29.114Z,1628948669.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.080000 m,
      bearing: 144.915154 deg,
      approachRate: -0.661844 m/s,
      LOS rate: -0.956581 deg/s,
      cmd update: -2.869744 deg/s,
      cmd heading: 171.280282 deg,
      new cmd heading: 171.280265 deg.

2021-08-14T13:44:30.217Z,1628948670.217 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:44:31.003Z,1628948671.003 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T13:44:31.004Z,1628948671.004 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T13:44:31.005Z,1628948671.005 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707218E7C40D8515B6A7BFC2E6E362162FE53B1248195E2F90616FFD16C7D0E6E82FC1A7F4
2021-08-14T13:44:31.005Z,1628948671.005 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T13:44:31.318Z,1628948671.318 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T13:44:31.366Z,1628948671.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:31.721Z,1628948671.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:31.721Z,1628948671.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:31.721Z,1628948671.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:31.722Z,1628948671.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:31.729Z,1628948671.729 [Micromodem](INFO): Nmea in: $CADRQ,134432,1,10,0,64,1*75

2021-08-14T13:44:31.731Z,1628948671.731 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*39

2021-08-14T13:44:32.117Z,1628948672.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00477,187,80,80,6F,FF
2021-08-14T13:44:32.117Z,1628948672.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:32.117Z,1628948672.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:32.119Z,1628948672.119 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:44:32.120Z,1628948672.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:32.523Z,1628948672.523 [Micromodem](INFO): Nmea in: $CADRQ,134433,1,10,0,64,2*77

2021-08-14T13:44:32.523Z,1628948672.523 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,134433,1,10,0,64,2*77

2021-08-14T13:44:32.981Z,1628948672.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,0044E,188,80,80,6D,FF
2021-08-14T13:44:32.982Z,1628948672.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:32.986Z,1628948672.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:33.089Z,1628948673.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:33.366Z,1628948673.366 [Micromodem](INFO): Nmea in: $SNTTA,,0.341239,,,134433.80*44

2021-08-14T13:44:33.448Z,1628948673.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 142.828722 deg, deltaT: 4.431329 s, approachRate: -0.555138 m/s, LOS rate: -0.470837 deg/s, posRepo size: 4
2021-08-14T13:44:33.450Z,1628948673.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.620001 m,
      bearing: 142.828722 deg,
      approachRate: -0.555138 m/s,
      LOS rate: -0.470837 deg/s,
      cmd update: -1.412510 deg/s,
      cmd heading: 158.542024 deg,
      new cmd heading: 157.499586 deg.

2021-08-14T13:44:35.858Z,1628948675.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:36.173Z,1628948676.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:36.173Z,1628948676.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:36.173Z,1628948676.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:36.174Z,1628948676.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:36.577Z,1628948676.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,0044E,188,80,80,6D,FF
2021-08-14T13:44:36.577Z,1628948676.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:36.577Z,1628948676.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:36.579Z,1628948676.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:37.153Z,1628948677.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:37.565Z,1628948677.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,00420,186,80,80,59,FF
2021-08-14T13:44:37.565Z,1628948677.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:37.586Z,1628948677.586 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:37.961Z,1628948677.961 [Micromodem](INFO): Nmea in: $SNTTA,0.044043,,,,134438.25*49

2021-08-14T13:44:38.015Z,1628948678.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 146.256767 deg, deltaT: 4.496648 s, approachRate: -0.613791 m/s, LOS rate: 0.762356 deg/s, posRepo size: 4
2021-08-14T13:44:38.020Z,1628948678.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 146.256767 deg,
      approachRate: -0.613791 m/s,
      LOS rate: 0.762356 deg/s,
      cmd update: 2.287067 deg/s,
      cmd heading: 152.184163 deg,
      new cmd heading: 151.574180 deg.

2021-08-14T13:44:40.423Z,1628948680.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:40.801Z,1628948680.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:40.801Z,1628948680.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:40.801Z,1628948680.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:40.802Z,1628948680.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:41.317Z,1628948681.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,00420,186,80,80,59,FF
2021-08-14T13:44:41.318Z,1628948681.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:41.318Z,1628948681.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:41.320Z,1628948681.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:41.720Z,1628948681.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:42.113Z,1628948682.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,003FE,186,80,80,4C,FF
2021-08-14T13:44:42.113Z,1628948682.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:42.197Z,1628948682.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:42.549Z,1628948682.549 [Micromodem](INFO): Nmea in: $SNTTA,0.038907,,,,134442.99*41

2021-08-14T13:44:42.598Z,1628948682.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 146.919186 deg, deltaT: 4.611161 s, approachRate: -0.442405 m/s, LOS rate: 0.143656 deg/s, posRepo size: 4
2021-08-14T13:44:42.600Z,1628948682.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.819998 m,
      bearing: 146.919186 deg,
      approachRate: -0.442405 m/s,
      LOS rate: 0.143656 deg/s,
      cmd update: 0.430967 deg/s,
      cmd heading: 162.730465 deg,
      new cmd heading: 163.653637 deg.

2021-08-14T13:44:44.730Z,1628948684.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:45.101Z,1628948685.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:45.101Z,1628948685.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:45.101Z,1628948685.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:45.102Z,1628948685.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:45.495Z,1628948685.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,003FE,186,80,80,4C,FF
2021-08-14T13:44:45.495Z,1628948685.495 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:45.495Z,1628948685.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:45.497Z,1628948685.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:45.896Z,1628948685.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:46.297Z,1628948686.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,003C1,186,80,80,66,FF
2021-08-14T13:44:46.298Z,1628948686.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:46.426Z,1628948686.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:46.737Z,1628948686.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134447.17*59

2021-08-14T13:44:46.803Z,1628948686.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 140.266787 deg, deltaT: 4.228425 s, approachRate: -0.865570 m/s, LOS rate: -1.573257 deg/s, posRepo size: 4
2021-08-14T13:44:46.809Z,1628948686.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 140.266787 deg,
      approachRate: -0.865570 m/s,
      LOS rate: -1.573257 deg/s,
      cmd update: -4.719771 deg/s,
      cmd heading: 164.551038 deg,
      new cmd heading: 164.716777 deg.

2021-08-14T13:44:49.413Z,1628948689.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:49.590Z,1628948689.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:49.590Z,1628948689.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:49.591Z,1628948689.591 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:49.591Z,1628948689.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:49.985Z,1628948689.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,003C1,186,80,80,66,FF
2021-08-14T13:44:49.985Z,1628948689.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:49.986Z,1628948689.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:49.987Z,1628948689.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:50.397Z,1628948690.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:50.805Z,1628948690.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00398,189,80,80,AD,FF
2021-08-14T13:44:50.806Z,1628948690.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:50.827Z,1628948690.827 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:51.205Z,1628948691.205 [Micromodem](INFO): Nmea in: $SNTTA,0.406942,0.407010,,,134451.66*57

2021-08-14T13:44:51.303Z,1628948691.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 133.032742 deg, deltaT: 4.401253 s, approachRate: -0.558932 m/s, LOS rate: -1.643633 deg/s, posRepo size: 4
2021-08-14T13:44:51.305Z,1628948691.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.700001 m,
      bearing: 133.032742 deg,
      approachRate: -0.558932 m/s,
      LOS rate: -1.643633 deg/s,
      cmd update: -4.930899 deg/s,
      cmd heading: 143.759022 deg,
      new cmd heading: 141.496345 deg.

2021-08-14T13:44:53.898Z,1628948693.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:54.086Z,1628948694.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:54.086Z,1628948694.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:54.086Z,1628948694.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:54.087Z,1628948694.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:54.465Z,1628948694.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00398,189,80,80,AD,FF
2021-08-14T13:44:54.465Z,1628948694.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:54.465Z,1628948694.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:54.468Z,1628948694.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:54.896Z,1628948694.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:55.273Z,1628948695.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00372,186,80,80,60,FF
2021-08-14T13:44:55.274Z,1628948695.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:55.390Z,1628948695.390 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:44:55.711Z,1628948695.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134456.15*5B

2021-08-14T13:44:55.938Z,1628948695.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 139.845050 deg, deltaT: 4.563217 s, approachRate: -0.499648 m/s, LOS rate: 1.492874 deg/s, posRepo size: 4
2021-08-14T13:44:55.941Z,1628948695.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 139.845050 deg,
      approachRate: -0.499648 m/s,
      LOS rate: 1.492874 deg/s,
      cmd update: 4.478622 deg/s,
      cmd heading: 121.297190 deg,
      new cmd heading: 118.539777 deg.

2021-08-14T13:44:58.170Z,1628948698.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:44:58.535Z,1628948698.535 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:44:58.539Z,1628948698.539 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:44:58.539Z,1628948698.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:44:58.560Z,1628948698.560 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:44:58.990Z,1628948698.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00372,186,80,80,60,FF
2021-08-14T13:44:58.991Z,1628948698.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:44:58.991Z,1628948698.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:44:58.993Z,1628948698.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:44:59.374Z,1628948699.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:44:59.747Z,1628948699.747 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00341,185,80,80,5C,FF
2021-08-14T13:44:59.747Z,1628948699.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:44:59.815Z,1628948699.815 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:00.197Z,1628948700.197 [Micromodem](INFO): Nmea in: $SNTTA,0.008098,,,,134500.67*4B

2021-08-14T13:45:00.410Z,1628948700.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 136.597800 deg, deltaT: 4.424532 s, approachRate: -0.664478 m/s, LOS rate: -0.733919 deg/s, posRepo size: 4
2021-08-14T13:45:00.413Z,1628948700.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.479998 m,
      bearing: 136.597800 deg,
      approachRate: -0.664478 m/s,
      LOS rate: -0.733919 deg/s,
      cmd update: -2.201758 deg/s,
      cmd heading: 141.083534 deg,
      new cmd heading: 143.831088 deg.

2021-08-14T13:45:02.194Z,1628948702.194 [Micromodem](INFO): Nmea in: $CAERR,134503,DATA_TIMEOUT,2*4D

2021-08-14T13:45:02.419Z,1628948702.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:02.577Z,1628948702.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:02.577Z,1628948702.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:02.577Z,1628948702.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:02.578Z,1628948702.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:02.585Z,1628948702.585 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-14T13:45:03.005Z,1628948703.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00341,185,80,80,5C,FF
2021-08-14T13:45:03.005Z,1628948703.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:03.005Z,1628948703.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:03.007Z,1628948703.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:03.065Z,1628948703.065 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:45:03.810Z,1628948703.810 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-14T13:45:03.811Z,1628948703.811 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-14T13:45:04.199Z,1628948704.199 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,134503.452749,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5B

2021-08-14T13:45:04.199Z,1628948704.199 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,134503.452749,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5B

2021-08-14T13:45:05.117Z,1628948705.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:05.843Z,1628948705.843 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T13:45:06.359Z,1628948706.359 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814134506.298932,06,32767,45,0108,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.4,2.46,04,0.54,-01,-0.62,48,14500,4000*62

2021-08-14T13:45:06.359Z,1628948706.359 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814134506.298932,06,32767,45,0108,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.4,2.46,04,0.54,-01,-0.62,48,14500,4000*62

2021-08-14T13:45:07.650Z,1628948707.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:08.828Z,1628948708.828 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.249951
2021-08-14T13:45:10.460Z,1628948710.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:10.833Z,1628948710.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:10.833Z,1628948710.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:10.833Z,1628948710.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:10.834Z,1628948710.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:11.245Z,1628948711.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00341,185,80,80,5C,FF
2021-08-14T13:45:11.245Z,1628948711.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:11.245Z,1628948711.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:13.182Z,1628948713.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:14.169Z,1628948714.169 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:14.581Z,1628948714.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:15.009Z,1628948715.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,002C9,186,80,80,A7,FF
2021-08-14T13:45:15.010Z,1628948715.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:15.306Z,1628948715.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:15.441Z,1628948715.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134515.84*55

2021-08-14T13:45:15.480Z,1628948715.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 105.439830 deg, deltaT: 15.491711 s, approachRate: -0.464765 m/s, LOS rate: -2.011267 deg/s, posRepo size: 4
2021-08-14T13:45:15.482Z,1628948715.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 105.439830 deg,
      approachRate: -0.464765 m/s,
      LOS rate: -2.011267 deg/s,
      cmd update: -6.033802 deg/s,
      cmd heading: 106.942665 deg,
      new cmd heading: 106.562534 deg.

2021-08-14T13:45:17.872Z,1628948717.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:18.261Z,1628948718.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:18.261Z,1628948718.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:18.262Z,1628948718.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:18.263Z,1628948718.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:18.657Z,1628948718.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,002C9,186,80,80,A7,FF
2021-08-14T13:45:18.657Z,1628948718.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:18.657Z,1628948718.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:18.659Z,1628948718.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:19.097Z,1628948719.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:19.469Z,1628948719.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,002CD,186,80,80,8F,FF
2021-08-14T13:45:19.469Z,1628948719.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:19.703Z,1628948719.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:19.922Z,1628948719.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134520.34*58

2021-08-14T13:45:19.943Z,1628948719.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 114.910529 deg, deltaT: 4.396327 s, approachRate: 0.054591 m/s, LOS rate: 2.154230 deg/s, posRepo size: 4
2021-08-14T13:45:19.946Z,1628948719.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 114.910529 deg,
      approachRate: 0.054591 m/s,
      LOS rate: 2.154230 deg/s,
      cmd update: 6.462690 deg/s,
      cmd heading: 80.426079 deg,
      new cmd heading: 78.944805 deg.

2021-08-14T13:45:22.331Z,1628948722.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:22.697Z,1628948722.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:22.697Z,1628948722.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:22.697Z,1628948722.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:22.698Z,1628948722.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:23.105Z,1628948723.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,002CD,186,80,80,8F,FF
2021-08-14T13:45:23.105Z,1628948723.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:23.105Z,1628948723.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:23.107Z,1628948723.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:23.172Z,1628948723.172 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T13:45:23.508Z,1628948723.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:23.913Z,1628948723.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,002E9,183,80,80,9D,FF
2021-08-14T13:45:23.913Z,1628948723.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:23.958Z,1628948723.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:24.349Z,1628948724.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134524.78*54

2021-08-14T13:45:24.399Z,1628948724.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 88.745051 deg, deltaT: 4.255696 s, approachRate: 0.394765 m/s, LOS rate: -6.148343 deg/s, posRepo size: 4
2021-08-14T13:45:24.406Z,1628948724.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 88.745051 deg,
      approachRate: 0.394765 m/s,
      LOS rate: -6.148343 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 107.784668 deg,
      new cmd heading: 110.811430 deg.

2021-08-14T13:45:26.787Z,1628948726.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:27.145Z,1628948727.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:27.145Z,1628948727.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:27.145Z,1628948727.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:27.146Z,1628948727.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:27.545Z,1628948727.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,002E9,183,80,80,9D,FF
2021-08-14T13:45:27.545Z,1628948727.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:27.545Z,1628948727.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:27.547Z,1628948727.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:27.997Z,1628948727.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:28.590Z,1628948728.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,0030F,187,80,80,59,FF
2021-08-14T13:45:28.591Z,1628948728.591 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:28.650Z,1628948728.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:29.037Z,1628948729.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134529.22*56

2021-08-14T13:45:29.109Z,1628948729.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 102.431568 deg, deltaT: 4.691766 s, approachRate: 0.485957 m/s, LOS rate: 2.917136 deg/s, posRepo size: 4
2021-08-14T13:45:29.111Z,1628948729.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 102.431568 deg,
      approachRate: 0.485957 m/s,
      LOS rate: 2.917136 deg/s,
      cmd update: 8.751407 deg/s,
      cmd heading: 51.243739 deg,
      new cmd heading: 45.659227 deg.

2021-08-14T13:45:31.423Z,1628948731.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:31.809Z,1628948731.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:31.809Z,1628948731.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:31.809Z,1628948731.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:31.810Z,1628948731.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:32.221Z,1628948732.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,0030F,187,80,80,59,FF
2021-08-14T13:45:32.221Z,1628948732.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:32.221Z,1628948732.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:32.223Z,1628948732.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:32.702Z,1628948732.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:33.108Z,1628948733.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,0033E,186,80,80,7D,FF
2021-08-14T13:45:33.109Z,1628948733.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:33.184Z,1628948733.184 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:33.517Z,1628948733.517 [Micromodem](INFO): Nmea in: $SNTTA,0.029499,,,,134533.90*45

2021-08-14T13:45:33.560Z,1628948733.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 109.711102 deg, deltaT: 4.533769 s, approachRate: 0.621999 m/s, LOS rate: 1.605625 deg/s, posRepo size: 4
2021-08-14T13:45:33.562Z,1628948733.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 109.711102 deg,
      approachRate: 0.621999 m/s,
      LOS rate: 1.605625 deg/s,
      cmd update: 4.816876 deg/s,
      cmd heading: 90.743748 deg,
      new cmd heading: 94.271641 deg.

2021-08-14T13:45:35.971Z,1628948735.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:36.317Z,1628948736.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:36.317Z,1628948736.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:36.317Z,1628948736.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:36.318Z,1628948736.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:36.323Z,1628948736.323 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:45:36.734Z,1628948736.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,0033E,186,80,80,7D,FF
2021-08-14T13:45:36.735Z,1628948736.735 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:36.735Z,1628948736.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:36.737Z,1628948736.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:37.136Z,1628948737.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:37.313Z,1628948737.313 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T13:45:37.314Z,1628948737.314 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T13:45:37.315Z,1628948737.315 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707218E7C40D8515B6A7BFC2E6E362162FE53B1248195E2F90616FFD16C7D0E6E82FC1A7F4
2021-08-14T13:45:37.315Z,1628948737.315 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T13:45:37.569Z,1628948737.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,00376,185,80,80,88,FF
2021-08-14T13:45:37.569Z,1628948737.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:37.573Z,1628948737.573 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T13:45:37.612Z,1628948737.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:38.037Z,1628948738.037 [Micromodem](INFO): Nmea in: $CADRQ,134538,1,10,0,64,1*7E

2021-08-14T13:45:38.038Z,1628948738.038 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*39

2021-08-14T13:45:38.169Z,1628948738.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 86.823220 deg, deltaT: 4.427985 s, approachRate: 0.758811 m/s, LOS rate: -5.168916 deg/s, posRepo size: 4
2021-08-14T13:45:38.169Z,1628948738.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.66 m. Rolling out.
2021-08-14T13:45:38.170Z,1628948738.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T13:45:38.401Z,1628948738.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134538.42*50

2021-08-14T13:45:38.401Z,1628948738.401 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,134538.42*50

2021-08-14T13:45:39.613Z,1628948739.613 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:45:40.049Z,1628948740.049 [Micromodem](INFO): Nmea in: $CADRQ,134539,1,10,0,64,2*7C

2021-08-14T13:45:40.051Z,1628948740.051 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T13:45:40.190Z,1628948740.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:40.401Z,1628948740.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:40.401Z,1628948740.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:40.401Z,1628948740.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:40.402Z,1628948740.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:40.437Z,1628948740.437 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:45:40.833Z,1628948740.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,00376,185,80,80,88,FF
2021-08-14T13:45:40.833Z,1628948740.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:40.833Z,1628948740.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:40.835Z,1628948740.835 [Micromodem](INFO): Nmea in: $CADRQ,134541,1,10,0,64,3*72

2021-08-14T13:45:40.835Z,1628948740.835 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707218E7C40D8515B6A7BFC2E6E362162FE53B1248195E2F90616FFD16C7D0E6E82FC1A7F4*43

2021-08-14T13:45:41.230Z,1628948741.230 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:45:41.230Z,1628948741.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:41.638Z,1628948741.638 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T13:45:41.638Z,1628948741.638 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T13:45:42.853Z,1628948742.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:45.406Z,1628948745.406 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T13:45:45.406Z,1628948745.406 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T13:45:45.453Z,1628948745.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:45.815Z,1628948745.815 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,134542.560552,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6C

2021-08-14T13:45:45.816Z,1628948745.816 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,134542.560552,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6C

2021-08-14T13:45:46.236Z,1628948746.236 [PowerOnly](INFO): Powering down loadControl
2021-08-14T13:45:46.616Z,1628948746.616 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.214014
2021-08-14T13:45:48.071Z,1628948748.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:48.354Z,1628948748.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:48.354Z,1628948748.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:48.355Z,1628948748.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:48.356Z,1628948748.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:48.770Z,1628948748.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,00376,185,80,80,88,FF
2021-08-14T13:45:48.771Z,1628948748.771 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:48.771Z,1628948748.771 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:50.823Z,1628948750.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:52.417Z,1628948752.417 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:52.839Z,1628948752.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:53.265Z,1628948753.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,00408,186,80,80,71,FF
2021-08-14T13:45:53.265Z,1628948753.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:53.503Z,1628948753.503 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:53.726Z,1628948753.726 [Micromodem](INFO): Nmea in: $SNTTA,0.026749,,,,134554.09*45

2021-08-14T13:45:53.760Z,1628948753.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 132.118344 deg, deltaT: 15.890852 s, approachRate: 0.551261 m/s, LOS rate: 2.850390 deg/s, posRepo size: 4
2021-08-14T13:45:56.200Z,1628948756.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:45:56.537Z,1628948756.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:45:56.537Z,1628948756.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:45:56.537Z,1628948756.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:45:56.538Z,1628948756.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:45:56.986Z,1628948756.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,00408,186,80,80,71,FF
2021-08-14T13:45:56.987Z,1628948756.987 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:45:56.987Z,1628948756.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:45:57.037Z,1628948757.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:45:57.365Z,1628948757.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:45:57.746Z,1628948757.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00435,187,80,80,6A,FF
2021-08-14T13:45:57.746Z,1628948757.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:45:57.810Z,1628948757.810 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:45:58.191Z,1628948758.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 123.481009 deg, deltaT: 4.307043 s, approachRate: 0.626879 m/s, LOS rate: -2.005398 deg/s, posRepo size: 4
2021-08-14T13:45:58.567Z,1628948758.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134558.71*56

2021-08-14T13:46:00.662Z,1628948760.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:01.005Z,1628948761.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:01.005Z,1628948761.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:01.005Z,1628948761.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:01.006Z,1628948761.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:01.393Z,1628948761.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,00435,187,80,80,6A,FF
2021-08-14T13:46:01.393Z,1628948761.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:01.393Z,1628948761.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:01.395Z,1628948761.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:01.813Z,1628948761.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:02.201Z,1628948762.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00469,184,80,80,67,FF
2021-08-14T13:46:02.201Z,1628948762.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:02.275Z,1628948762.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:46:02.642Z,1628948762.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134603.07*5A

2021-08-14T13:46:02.657Z,1628948762.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 116.752030 deg, deltaT: 4.469738 s, approachRate: 0.698028 m/s, LOS rate: -1.505453 deg/s, posRepo size: 4
2021-08-14T13:46:05.228Z,1628948765.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:05.517Z,1628948765.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:05.517Z,1628948765.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:05.517Z,1628948765.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:05.518Z,1628948765.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:05.929Z,1628948765.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00469,184,80,80,67,FF
2021-08-14T13:46:05.930Z,1628948765.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:05.930Z,1628948765.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:05.933Z,1628948765.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:06.461Z,1628948766.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:06.864Z,1628948766.864 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0049A,185,80,80,59,FF
2021-08-14T13:46:06.865Z,1628948766.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:06.958Z,1628948766.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:46:07.273Z,1628948767.273 [Micromodem](INFO): Nmea in: $SNTTA,0.433355,0.433361,,,134607.61*59

2021-08-14T13:46:07.360Z,1628948767.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 122.094426 deg, deltaT: 4.678606 s, approachRate: 0.628393 m/s, LOS rate: 1.141878 deg/s, posRepo size: 4
2021-08-14T13:46:09.727Z,1628948769.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:10.115Z,1628948770.115 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:10.115Z,1628948770.115 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:10.115Z,1628948770.115 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:10.118Z,1628948770.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:10.653Z,1628948770.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0049A,185,80,80,59,FF
2021-08-14T13:46:10.653Z,1628948770.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:10.653Z,1628948770.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:10.655Z,1628948770.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:11.073Z,1628948771.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:11.457Z,1628948771.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,004BF,185,80,80,84,FF
2021-08-14T13:46:11.457Z,1628948771.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:11.528Z,1628948771.528 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:46:11.901Z,1628948771.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134612.33*5D

2021-08-14T13:46:11.951Z,1628948771.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 117.706180 deg, deltaT: 4.569877 s, approachRate: 0.485789 m/s, LOS rate: -0.960255 deg/s, posRepo size: 4
2021-08-14T13:46:14.366Z,1628948774.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:14.717Z,1628948774.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:14.717Z,1628948774.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:14.717Z,1628948774.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:14.718Z,1628948774.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:15.133Z,1628948775.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,004BF,185,80,80,84,FF
2021-08-14T13:46:15.133Z,1628948775.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:15.133Z,1628948775.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:15.135Z,1628948775.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:15.533Z,1628948775.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:15.933Z,1628948775.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,004F6,186,80,80,72,FF
2021-08-14T13:46:15.933Z,1628948775.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:15.978Z,1628948775.978 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:46:16.361Z,1628948776.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134616.81*50

2021-08-14T13:46:16.400Z,1628948776.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 113.206588 deg, deltaT: 4.449947 s, approachRate: 0.741582 m/s, LOS rate: -1.011156 deg/s, posRepo size: 4
2021-08-14T13:46:18.570Z,1628948778.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:18.953Z,1628948778.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:18.953Z,1628948778.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:18.954Z,1628948778.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:18.960Z,1628948778.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:19.465Z,1628948779.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,004F6,186,80,80,72,FF
2021-08-14T13:46:19.465Z,1628948779.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:19.465Z,1628948779.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:19.466Z,1628948779.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:19.860Z,1628948779.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:20.269Z,1628948780.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00526,186,80,80,89,FF
2021-08-14T13:46:20.269Z,1628948780.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:20.351Z,1628948780.351 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:46:20.750Z,1628948780.750 [Micromodem](INFO): Nmea in: $SNTTA,,0.048426,,,134621.14*4A

2021-08-14T13:46:20.787Z,1628948780.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 107.641404 deg, deltaT: 4.373048 s, approachRate: 0.658580 m/s, LOS rate: -1.272610 deg/s, posRepo size: 4
2021-08-14T13:46:21.165Z,1628948781.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:46:21.165Z,1628948781.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:46:21.166Z,1628948781.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:46:21.166Z,1628948781.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:46:21.166Z,1628948781.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:46:21.166Z,1628948781.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:46:21.507Z,1628948781.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:46:21.507Z,1628948781.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:46:21.507Z,1628948781.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:46:21.507Z,1628948781.507 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:46:23.356Z,1628948783.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:23.509Z,1628948783.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:23.509Z,1628948783.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:23.509Z,1628948783.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:23.510Z,1628948783.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:23.914Z,1628948783.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00526,186,80,80,89,FF
2021-08-14T13:46:23.914Z,1628948783.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:23.914Z,1628948783.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:23.916Z,1628948783.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:24.316Z,1628948784.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:24.717Z,1628948784.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,129,000,0055C,186,80,80,2F,FF
2021-08-14T13:46:24.717Z,1628948784.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:25.166Z,1628948785.166 [Micromodem](INFO): Nmea in: $SNTTA,0.442788,,,,134625.59*4E

2021-08-14T13:46:25.391Z,1628948785.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 104.154443 deg, deltaT: 4.448021 s, approachRate: 0.728414 m/s, LOS rate: -0.783936 deg/s, posRepo size: 4
2021-08-14T13:46:27.593Z,1628948787.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:28.025Z,1628948788.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:28.026Z,1628948788.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:28.026Z,1628948788.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:28.032Z,1628948788.032 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:28.377Z,1628948788.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
129,000,0055C,186,80,80,2F,FF
2021-08-14T13:46:28.377Z,1628948788.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:28.377Z,1628948788.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:28.379Z,1628948788.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:28.797Z,1628948788.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:29.630Z,1628948789.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134630.06*5B

2021-08-14T13:46:30.437Z,1628948790.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:32.037Z,1628948792.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,2F,FF
2021-08-14T13:46:32.038Z,1628948792.038 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,2F,FF
2021-08-14T13:46:32.038Z,1628948792.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:46:33.294Z,1628948793.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:33.643Z,1628948793.643 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:33.643Z,1628948793.643 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:33.643Z,1628948793.643 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:33.644Z,1628948793.644 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:34.063Z,1628948794.063 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,2F,FF
2021-08-14T13:46:34.064Z,1628948794.064 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:34.064Z,1628948794.064 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:34.065Z,1628948794.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:34.467Z,1628948794.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:34.853Z,1628948794.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,005C9,186,80,80,83,FF
2021-08-14T13:46:34.854Z,1628948794.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:35.281Z,1628948795.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134635.74*5B

2021-08-14T13:46:35.336Z,1628948795.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 134.809383 deg, deltaT: 10.121966 s, approachRate: 0.646120 m/s, LOS rate: 3.028556 deg/s, posRepo size: 4
2021-08-14T13:46:37.761Z,1628948797.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:38.113Z,1628948798.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:38.113Z,1628948798.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:38.113Z,1628948798.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:38.114Z,1628948798.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:38.533Z,1628948798.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,005C9,186,80,80,83,FF
2021-08-14T13:46:38.533Z,1628948798.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:38.533Z,1628948798.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:38.535Z,1628948798.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:38.947Z,1628948798.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:39.333Z,1628948799.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,005FB,186,80,80,68,FF
2021-08-14T13:46:39.333Z,1628948799.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:39.766Z,1628948799.766 [Micromodem](INFO): Nmea in: $SNTTA,0.049959,,,,134640.21*4F

2021-08-14T13:46:39.807Z,1628948799.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 129.745017 deg, deltaT: 4.495673 s, approachRate: 0.667307 m/s, LOS rate: -1.126498 deg/s, posRepo size: 4
2021-08-14T13:46:42.214Z,1628948802.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:42.569Z,1628948802.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:42.569Z,1628948802.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:42.569Z,1628948802.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:42.570Z,1628948802.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:42.575Z,1628948802.575 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T13:46:43.029Z,1628948803.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,005FB,186,80,80,68,FF
2021-08-14T13:46:43.029Z,1628948803.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:43.030Z,1628948803.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:43.035Z,1628948803.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:43.409Z,1628948803.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:43.581Z,1628948803.581 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T13:46:43.582Z,1628948803.582 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T13:46:43.582Z,1628948803.582 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707218E7C40D8515B6A7BFC2E6E362162FE53B1248195E2F90616FFD16C7D0E6E82FC1A7F4
2021-08-14T13:46:43.583Z,1628948803.583 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T13:46:43.860Z,1628948803.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00631,186,80,80,50,FF
2021-08-14T13:46:43.861Z,1628948803.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:43.863Z,1628948803.863 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T13:46:44.297Z,1628948804.297 [Micromodem](INFO): Nmea in: $CADRQ,134645,1,10,0,64,1*77

2021-08-14T13:46:44.298Z,1628948804.298 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761120001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*39

2021-08-14T13:46:44.423Z,1628948804.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 137.546664 deg, deltaT: 4.489737 s, approachRate: 0.721648 m/s, LOS rate: 1.737662 deg/s, posRepo size: 4
2021-08-14T13:46:44.661Z,1628948804.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134644.72*5B

2021-08-14T13:46:44.661Z,1628948804.661 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,134644.72*5B

2021-08-14T13:46:45.941Z,1628948805.941 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:46:46.353Z,1628948806.353 [Micromodem](INFO): Nmea in: $CADRQ,134645,1,10,0,64,2*74

2021-08-14T13:46:46.354Z,1628948806.354 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T13:46:46.481Z,1628948806.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:46.737Z,1628948806.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:46.737Z,1628948806.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:46.737Z,1628948806.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:46.738Z,1628948806.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:46.745Z,1628948806.745 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:46:47.141Z,1628948807.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00631,186,80,80,50,FF
2021-08-14T13:46:47.141Z,1628948807.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:47.141Z,1628948807.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:47.143Z,1628948807.143 [Micromodem](INFO): Nmea in: $CADRQ,134648,1,10,0,64,3*78

2021-08-14T13:46:47.144Z,1628948807.144 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707218E7C40D8515B6A7BFC2E6E362162FE53B1248195E2F90616FFD16C7D0E6E82FC1A7F4*43

2021-08-14T13:46:47.558Z,1628948807.558 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T13:46:47.559Z,1628948807.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:47.950Z,1628948807.950 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T13:46:47.950Z,1628948807.950 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T13:46:49.401Z,1628948809.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:51.654Z,1628948811.654 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T13:46:51.654Z,1628948811.654 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T13:46:52.075Z,1628948812.075 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,134648.866979,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6B

2021-08-14T13:46:52.076Z,1628948812.076 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,134648.866979,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6B

2021-08-14T13:46:52.151Z,1628948812.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:52.873Z,1628948812.873 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.133992
2021-08-14T13:46:54.898Z,1628948814.898 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T13:46:55.010Z,1628948815.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:55.287Z,1628948815.287 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:46:55.287Z,1628948815.287 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:46:55.288Z,1628948815.288 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:46:55.289Z,1628948815.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:46:55.296Z,1628948815.296 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T13:46:55.690Z,1628948815.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00631,186,80,80,50,FF
2021-08-14T13:46:55.690Z,1628948815.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:46:55.690Z,1628948815.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:46:55.692Z,1628948815.692 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-14T13:46:55.692Z,1628948815.692 [Micromodem](INFO): Sent 184 bytes from file Logs/20210814T125729/Courier0018.lzma.parts
2021-08-14T13:46:55.693Z,1628948815.693 [Micromodem](INFO): Packets left to send: 1
2021-08-14T13:46:56.126Z,1628948816.126 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814134655.570451,06,19289,42,0094,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,11.5,2.39,04,0.61,-01,0.51,41,14500,4000*43

2021-08-14T13:46:56.126Z,1628948816.126 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814134655.570451,06,19289,42,0094,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,11.5,2.39,04,0.61,-01,0.51,41,14500,4000*43

2021-08-14T13:46:56.337Z,1628948816.337 [Micromodem](INFO): Using rate 1 for 10 bytes.
2021-08-14T13:46:56.337Z,1628948816.337 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B9BD176112000000B780
2021-08-14T13:46:58.054Z,1628948818.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:46:58.630Z,1628948818.630 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:46:59.068Z,1628948819.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:46:59.084Z,1628948819.084 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:46:59.430Z,1628948819.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,006DE,186,80,80,8F,FF
2021-08-14T13:46:59.430Z,1628948819.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:46:59.445Z,1628948819.445 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:46:59.877Z,1628948819.877 [Micromodem](INFO): Nmea in: $CADRQ,134700,1,10,0,64,1*77

2021-08-14T13:46:59.878Z,1628948819.878 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-14T13:46:59.878Z,1628948819.878 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD176112000000B780*4B

2021-08-14T13:47:00.218Z,1628948820.218 [Micromodem](INFO): Using rate 0 for 10 bytes.
2021-08-14T13:47:00.218Z,1628948820.218 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B9BD176112000000B780
2021-08-14T13:47:00.246Z,1628948820.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 134.109426 deg, deltaT: 15.591070 s, approachRate: 0.665766 m/s, LOS rate: -0.220462 deg/s, posRepo size: 4
2021-08-14T13:47:00.441Z,1628948820.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134700.31*5D

2021-08-14T13:47:00.441Z,1628948820.441 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,134700.31*5D

2021-08-14T13:47:01.641Z,1628948821.641 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,10*4A

2021-08-14T13:47:01.642Z,1628948821.642 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:47:02.062Z,1628948822.062 [Micromodem](INFO): Nmea in: $CATXP,10*73

2021-08-14T13:47:02.063Z,1628948822.063 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73

2021-08-14T13:47:02.284Z,1628948822.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:02.441Z,1628948822.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:02.441Z,1628948822.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:02.441Z,1628948822.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:02.442Z,1628948822.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:02.447Z,1628948822.447 [Micromodem](INFO): Nmea in: $CATXF,10*65

2021-08-14T13:47:02.449Z,1628948822.449 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65

2021-08-14T13:47:02.845Z,1628948822.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,006DE,186,80,80,8F,FF
2021-08-14T13:47:02.845Z,1628948822.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:02.845Z,1628948822.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:02.848Z,1628948822.848 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,134701.526194,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*5E

2021-08-14T13:47:02.848Z,1628948822.848 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,134701.526194,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*5E

2021-08-14T13:47:04.074Z,1628948824.074 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T13:47:04.075Z,1628948824.075 [Micromodem](INFO): Sent 2 bytes from file Logs/20210814T125729/Courier0018.lzma.parts
2021-08-14T13:47:04.075Z,1628948824.075 [Micromodem](INFO): Packets left to send: 0
2021-08-14T13:47:04.598Z,1628948824.598 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814134704.394782,06,28814,44,0142,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,10.4,2.93,08,0.07,-01,0.73,46,14500,4000*4C

2021-08-14T13:47:04.598Z,1628948824.598 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814134704.394782,06,28814,44,0142,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,10.4,2.93,08,0.07,-01,0.73,46,14500,4000*4C

2021-08-14T13:47:04.815Z,1628948824.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:04.816Z,1628948824.816 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T13:47:04.816Z,1628948824.816 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T13:47:04.816Z,1628948824.816 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T13:47:04.816Z,1628948824.816 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T13:47:04.816Z,1628948824.816 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T13:47:07.423Z,1628948827.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:08.229Z,1628948828.229 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:47:08.628Z,1628948828.628 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.186004
2021-08-14T13:47:10.277Z,1628948830.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:10.641Z,1628948830.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:10.641Z,1628948830.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:10.641Z,1628948830.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:10.642Z,1628948830.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:11.057Z,1628948831.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,006DE,186,80,80,8F,FF
2021-08-14T13:47:11.057Z,1628948831.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:11.057Z,1628948831.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:12.662Z,1628948832.662 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-14T13:47:13.106Z,1628948833.106 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T13:47:13.107Z,1628948833.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:13.112Z,1628948833.112 [Micromodem](INFO): Nmea in: $CADRQ,134714,1,10,0,64,1*72

2021-08-14T13:47:13.114Z,1628948833.114 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,134714,1,10,0,64,1*72

2021-08-14T13:47:13.325Z,1628948833.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:13.525Z,1628948833.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:13.913Z,1628948833.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00785,187,80,80,9D,FF
2021-08-14T13:47:13.913Z,1628948833.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:14.353Z,1628948834.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134714.78*55

2021-08-14T13:47:14.417Z,1628948834.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.000000 m, bearing: 132.951599 deg, deltaT: 14.463871 s, approachRate: 0.692760 m/s, LOS rate: -0.080050 deg/s, posRepo size: 4
2021-08-14T13:47:16.782Z,1628948836.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:17.145Z,1628948837.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:17.145Z,1628948837.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:17.145Z,1628948837.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:17.146Z,1628948837.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:17.549Z,1628948837.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00785,187,80,80,9D,FF
2021-08-14T13:47:17.549Z,1628948837.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:17.549Z,1628948837.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:17.551Z,1628948837.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:17.966Z,1628948837.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:18.365Z,1628948838.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,007B7,186,80,80,AB,FF
2021-08-14T13:47:18.366Z,1628948838.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:18.799Z,1628948838.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134719.23*56

2021-08-14T13:47:18.834Z,1628948838.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.000008 m, bearing: 131.374249 deg, deltaT: 4.509409 s, approachRate: 0.665277 m/s, LOS rate: -0.349791 deg/s, posRepo size: 4
2021-08-14T13:47:21.268Z,1628948841.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:21.591Z,1628948841.591 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:21.591Z,1628948841.591 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:21.593Z,1628948841.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:21.594Z,1628948841.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:21.993Z,1628948841.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,007B7,186,80,80,AB,FF
2021-08-14T13:47:21.994Z,1628948841.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:21.995Z,1628948841.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:21.999Z,1628948841.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:22.422Z,1628948842.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:22.809Z,1628948842.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,007EB,186,80,80,91,FF
2021-08-14T13:47:22.809Z,1628948842.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:23.245Z,1628948843.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134723.68*50

2021-08-14T13:47:23.271Z,1628948843.271 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:47:23.305Z,1628948843.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 131.327968 deg, deltaT: 4.405109 s, approachRate: 0.708266 m/s, LOS rate: -0.010506 deg/s, posRepo size: 4
2021-08-14T13:47:25.660Z,1628948845.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:26.062Z,1628948846.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:26.062Z,1628948846.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:26.063Z,1628948846.063 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:26.064Z,1628948846.064 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:26.445Z,1628948846.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,007EB,186,80,80,91,FF
2021-08-14T13:47:26.445Z,1628948846.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:26.445Z,1628948846.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:26.447Z,1628948846.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:26.853Z,1628948846.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:27.249Z,1628948847.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,0081D,186,80,80,9E,FF
2021-08-14T13:47:27.250Z,1628948847.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:27.253Z,1628948847.253 [Micromodem](INFO): Nmea in: $SNTTA,0.081869,0.175862,,,134728.13*56

2021-08-14T13:47:27.680Z,1628948847.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 128.583967 deg, deltaT: 4.481623 s, approachRate: 0.669402 m/s, LOS rate: -0.612278 deg/s, posRepo size: 4
2021-08-14T13:47:28.133Z,1628948848.133 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T13:47:30.127Z,1628948850.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:30.481Z,1628948850.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:30.481Z,1628948850.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:30.481Z,1628948850.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:30.482Z,1628948850.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:30.881Z,1628948850.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,0081D,186,80,80,9E,FF
2021-08-14T13:47:30.881Z,1628948850.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:30.881Z,1628948850.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:30.883Z,1628948850.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:31.289Z,1628948851.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:31.693Z,1628948851.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,0084D,186,80,80,9A,FF
2021-08-14T13:47:31.693Z,1628948851.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:32.138Z,1628948852.138 [Micromodem](INFO): Nmea in: $SNTTA,0.061912,,,,134732.56*4E

2021-08-14T13:47:32.168Z,1628948852.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 128.876558 deg, deltaT: 4.355442 s, approachRate: 0.661241 m/s, LOS rate: 0.067178 deg/s, posRepo size: 4
2021-08-14T13:47:33.322Z,1628948853.322 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:47:34.555Z,1628948854.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:34.959Z,1628948854.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:34.959Z,1628948854.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:34.959Z,1628948854.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:34.960Z,1628948854.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:35.341Z,1628948855.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,0084D,186,80,80,9A,FF
2021-08-14T13:47:35.341Z,1628948855.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:35.341Z,1628948855.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:35.343Z,1628948855.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:35.732Z,1628948855.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:35.745Z,1628948855.745 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T13:47:36.141Z,1628948856.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,0087E,186,80,80,9E,FF
2021-08-14T13:47:36.142Z,1628948856.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:36.581Z,1628948856.581 [Micromodem](INFO): Nmea in: $SNTTA,0.063871,,,,134737.02*4C

2021-08-14T13:47:36.623Z,1628948856.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.940010 m, bearing: 130.957990 deg, deltaT: 4.458741 s, approachRate: 0.659381 m/s, LOS rate: 0.466821 deg/s, posRepo size: 4
2021-08-14T13:47:38.177Z,1628948858.177 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:47:39.088Z,1628948859.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:39.377Z,1628948859.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:39.377Z,1628948859.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:39.377Z,1628948859.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:39.378Z,1628948859.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:39.774Z,1628948859.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,0087E,186,80,80,9E,FF
2021-08-14T13:47:39.774Z,1628948859.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:39.774Z,1628948859.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:39.777Z,1628948859.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:40.189Z,1628948860.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:40.577Z,1628948860.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,008AE,186,80,80,96,FF
2021-08-14T13:47:40.577Z,1628948860.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:41.069Z,1628948861.069 [Micromodem](INFO): Nmea in: $SNTTA,0.068463,,,,134741.46*49

2021-08-14T13:47:41.377Z,1628948861.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.820007 m, bearing: 130.921230 deg, deltaT: 4.457518 s, approachRate: 0.646099 m/s, LOS rate: -0.008247 deg/s, posRepo size: 4
2021-08-14T13:47:42.917Z,1628948862.917 [Micromodem](INFO): Nmea in: $CAERR,134744,DATA_TIMEOUT,1*4F

2021-08-14T13:47:43.368Z,1628948863.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:43.697Z,1628948863.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:43.697Z,1628948863.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:43.697Z,1628948863.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:43.698Z,1628948863.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:44.110Z,1628948864.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,008AE,186,80,80,96,FF
2021-08-14T13:47:44.110Z,1628948864.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:44.110Z,1628948864.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:44.112Z,1628948864.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:44.506Z,1628948864.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:44.937Z,1628948864.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,008DF,187,80,80,9B,FF
2021-08-14T13:47:44.939Z,1628948864.939 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:44.958Z,1628948864.958 [Micromodem](INFO): Nmea in: $SNTTA,0.089625,0.304825,,,134745.79*58

2021-08-14T13:47:45.041Z,1628948865.041 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T13:47:45.356Z,1628948865.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.759995 m, bearing: 129.448108 deg, deltaT: 4.438872 s, approachRate: 0.662328 m/s, LOS rate: -0.331868 deg/s, posRepo size: 4
2021-08-14T13:47:47.766Z,1628948867.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:48.149Z,1628948868.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:48.149Z,1628948868.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:48.150Z,1628948868.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:48.150Z,1628948868.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:48.553Z,1628948868.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,008DF,187,80,80,9B,FF
2021-08-14T13:47:48.553Z,1628948868.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:48.553Z,1628948868.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:48.555Z,1628948868.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:49.057Z,1628948869.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:49.404Z,1628948869.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,0090E,186,80,80,91,FF
2021-08-14T13:47:49.405Z,1628948869.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:49.826Z,1628948869.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134750.24*5C

2021-08-14T13:47:49.853Z,1628948869.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.580002 m, bearing: 130.766144 deg, deltaT: 4.356844 s, approachRate: 0.647259 m/s, LOS rate: 0.302521 deg/s, posRepo size: 4
2021-08-14T13:47:52.246Z,1628948872.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:52.617Z,1628948872.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:52.617Z,1628948872.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:52.617Z,1628948872.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:52.618Z,1628948872.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:53.070Z,1628948873.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,0090E,186,80,80,91,FF
2021-08-14T13:47:53.070Z,1628948873.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:53.070Z,1628948873.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:53.072Z,1628948873.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:53.216Z,1628948873.216 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T13:47:53.217Z,1628948873.217 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T13:47:53.217Z,1628948873.217 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T13:47:53.396Z,1628948873.396 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T13:47:53.461Z,1628948873.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:53.553Z,1628948873.553 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T13:47:53.853Z,1628948873.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,0093C,186,80,80,6C,FF
2021-08-14T13:47:53.853Z,1628948873.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:47:54.281Z,1628948874.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134754.75*5C

2021-08-14T13:47:54.303Z,1628948874.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.339996 m, bearing: 130.690547 deg, deltaT: 4.448391 s, approachRate: 0.620448 m/s, LOS rate: -0.016994 deg/s, posRepo size: 4
2021-08-14T13:47:54.448Z,1628948874.448 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T13:47:54.448Z,1628948874.448 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T13:47:56.695Z,1628948876.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:47:57.081Z,1628948877.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:47:57.081Z,1628948877.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:47:57.081Z,1628948877.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:47:57.082Z,1628948877.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:47:57.501Z,1628948877.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,0093C,186,80,80,6C,FF
2021-08-14T13:47:57.501Z,1628948877.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:47:57.501Z,1628948877.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:47:57.503Z,1628948877.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:47:57.897Z,1628948877.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:47:58.715Z,1628948878.715 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134759.18*5A

2021-08-14T13:47:59.526Z,1628948879.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:01.125Z,1628948881.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,6C,FF
2021-08-14T13:48:01.125Z,1628948881.125 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,6C,FF
2021-08-14T13:48:01.126Z,1628948881.126 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:48:02.377Z,1628948882.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:02.738Z,1628948882.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:02.738Z,1628948882.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:02.738Z,1628948882.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:02.739Z,1628948882.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:03.153Z,1628948883.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,6C,FF
2021-08-14T13:48:03.153Z,1628948883.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:03.153Z,1628948883.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:03.155Z,1628948883.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:03.556Z,1628948883.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:04.390Z,1628948884.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134804.83*5F

2021-08-14T13:48:05.209Z,1628948885.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:06.793Z,1628948886.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,6C,FF
2021-08-14T13:48:06.793Z,1628948886.793 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,6C,FF
2021-08-14T13:48:06.794Z,1628948886.794 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:48:08.105Z,1628948888.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:08.397Z,1628948888.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:08.397Z,1628948888.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:08.397Z,1628948888.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:08.398Z,1628948888.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:08.833Z,1628948888.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,6C,FF
2021-08-14T13:48:08.833Z,1628948888.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:08.834Z,1628948888.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:08.835Z,1628948888.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:09.208Z,1628948889.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:09.609Z,1628948889.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,009EC,186,80,80,85,FF
2021-08-14T13:48:09.609Z,1628948889.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:10.035Z,1628948890.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134810.51*55

2021-08-14T13:48:10.070Z,1628948890.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.900002 m, bearing: 135.279287 deg, deltaT: 15.779990 s, approachRate: 0.669202 m/s, LOS rate: 0.290795 deg/s, posRepo size: 4
2021-08-14T13:48:12.470Z,1628948892.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:12.845Z,1628948892.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:12.845Z,1628948892.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:12.845Z,1628948892.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:12.846Z,1628948892.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:13.241Z,1628948893.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,009EC,186,80,80,85,FF
2021-08-14T13:48:13.241Z,1628948893.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:13.241Z,1628948893.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:13.243Z,1628948893.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:13.653Z,1628948893.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:14.474Z,1628948894.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134814.92*5E

2021-08-14T13:48:15.315Z,1628948895.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:16.877Z,1628948896.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,85,FF
2021-08-14T13:48:16.877Z,1628948896.877 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,85,FF
2021-08-14T13:48:16.877Z,1628948896.877 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:48:18.145Z,1628948898.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:18.497Z,1628948898.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:18.497Z,1628948898.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:18.497Z,1628948898.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:18.498Z,1628948898.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:18.913Z,1628948898.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,85,FF
2021-08-14T13:48:18.913Z,1628948898.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:18.914Z,1628948898.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:18.928Z,1628948898.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:19.304Z,1628948899.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:20.123Z,1628948900.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,01B54,186,80,80,9F,FF
2021-08-14T13:48:20.125Z,1628948900.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:20.134Z,1628948900.134 [Micromodem](INFO): Nmea in: $SNTTA,0.268110,,,,134820.61*47

2021-08-14T13:48:20.552Z,1628948900.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 382.259979 m, bearing: 133.760007 deg, deltaT: 10.542249 s, approachRate: 25.360811 m/s, LOS rate: -0.144113 deg/s, posRepo size: 4
2021-08-14T13:48:20.553Z,1628948900.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 382.26 m. Resuming terminal guidance.
2021-08-14T13:48:20.553Z,1628948900.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T13:48:23.049Z,1628948903.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:23.350Z,1628948903.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:23.350Z,1628948903.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:23.350Z,1628948903.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:23.351Z,1628948903.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:23.750Z,1628948903.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,01B54,186,80,80,9F,FF
2021-08-14T13:48:23.750Z,1628948903.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:23.750Z,1628948903.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:23.753Z,1628948903.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:24.161Z,1628948904.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:24.994Z,1628948904.994 [Micromodem](INFO): Nmea in: $SNTTA,0.085046,,,,134825.43*41

2021-08-14T13:48:25.829Z,1628948905.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:27.381Z,1628948907.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,9F,FF
2021-08-14T13:48:27.381Z,1628948907.381 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,9F,FF
2021-08-14T13:48:27.381Z,1628948907.381 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:48:28.611Z,1628948908.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:29.001Z,1628948909.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:29.001Z,1628948909.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:29.001Z,1628948909.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:29.002Z,1628948909.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:29.410Z,1628948909.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,9F,FF
2021-08-14T13:48:29.410Z,1628948909.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:29.410Z,1628948909.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:29.412Z,1628948909.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:29.844Z,1628948909.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:30.217Z,1628948910.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00ACB,186,80,80,6B,FF
2021-08-14T13:48:30.217Z,1628948910.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:30.641Z,1628948910.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134831.09*5B

2021-08-14T13:48:30.691Z,1628948910.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.279999 m, bearing: 131.253095 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T13:48:30.696Z,1628948910.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 131.253095deg and heading rate command to 0 deg/s.
2021-08-14T13:48:33.130Z,1628948913.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:33.441Z,1628948913.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:33.441Z,1628948913.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:33.441Z,1628948913.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:33.442Z,1628948913.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:33.849Z,1628948913.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00ACB,186,80,80,6B,FF
2021-08-14T13:48:33.850Z,1628948913.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:33.850Z,1628948913.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:33.852Z,1628948913.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:34.252Z,1628948914.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:34.657Z,1628948914.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00AFC,187,80,80,8B,FF
2021-08-14T13:48:34.657Z,1628948914.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:35.093Z,1628948915.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134835.53*50

2021-08-14T13:48:35.154Z,1628948915.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.220001 m, bearing: 124.934665 deg, deltaT: 4.439961 s, approachRate: 0.662169 m/s, LOS rate: -1.423082 deg/s, posRepo size: 2
2021-08-14T13:48:35.173Z,1628948915.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.220001 m,
      bearing: 124.934665 deg,
      approachRate: 0.662169 m/s,
      LOS rate: -1.423082 deg/s,
      cmd update: -4.269247 deg/s,
      cmd heading: 131.253095 deg,
      new cmd heading: 131.253095 deg.

2021-08-14T13:48:37.524Z,1628948917.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:37.885Z,1628948917.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:37.885Z,1628948917.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:37.885Z,1628948917.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:37.886Z,1628948917.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:38.302Z,1628948918.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00AFC,187,80,80,8B,FF
2021-08-14T13:48:38.302Z,1628948918.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:38.302Z,1628948918.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:38.304Z,1628948918.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:38.701Z,1628948918.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:39.102Z,1628948919.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00B2A,186,80,80,89,FF
2021-08-14T13:48:39.102Z,1628948919.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:39.529Z,1628948919.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134839.98*5B

2021-08-14T13:48:39.575Z,1628948919.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.980011 m, bearing: 143.679982 deg, deltaT: 4.513161 s, approachRate: 0.611547 m/s, LOS rate: 4.153479 deg/s, posRepo size: 3
2021-08-14T13:48:39.577Z,1628948919.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.980011 m,
      bearing: 143.679982 deg,
      approachRate: 0.611547 m/s,
      LOS rate: 4.153479 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 112.002765 deg,
      new cmd heading: 110.330048 deg.

2021-08-14T13:48:41.974Z,1628948921.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:42.337Z,1628948922.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:42.337Z,1628948922.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:42.338Z,1628948922.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:42.339Z,1628948922.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:42.754Z,1628948922.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00B2A,186,80,80,89,FF
2021-08-14T13:48:42.754Z,1628948922.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:42.754Z,1628948922.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:42.757Z,1628948922.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:43.157Z,1628948923.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:43.557Z,1628948923.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00B5B,186,80,80,88,FF
2021-08-14T13:48:43.558Z,1628948923.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:43.969Z,1628948923.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134844.43*57

2021-08-14T13:48:43.995Z,1628948923.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.919998 m, bearing: 128.022703 deg, deltaT: 4.431937 s, approachRate: 0.663364 m/s, LOS rate: -3.532830 deg/s, posRepo size: 4
2021-08-14T13:48:44.010Z,1628948924.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.919998 m,
      bearing: 128.022703 deg,
      approachRate: 0.663364 m/s,
      LOS rate: -3.532830 deg/s,
      cmd update: -10.598490 deg/s,
      cmd heading: 165.237406 deg,
      new cmd heading: 169.744546 deg.

2021-08-14T13:48:46.395Z,1628948926.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:46.805Z,1628948926.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:46.805Z,1628948926.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:46.805Z,1628948926.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:46.806Z,1628948926.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:47.177Z,1628948927.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00B5B,186,80,80,88,FF
2021-08-14T13:48:47.177Z,1628948927.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:47.177Z,1628948927.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:47.179Z,1628948927.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:47.593Z,1628948927.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:47.989Z,1628948927.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,00B8C,186,80,80,78,FF
2021-08-14T13:48:47.989Z,1628948927.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:48.434Z,1628948928.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134848.86*52

2021-08-14T13:48:48.456Z,1628948928.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.860001 m, bearing: 142.578874 deg, deltaT: 4.425977 s, approachRate: 0.664261 m/s, LOS rate: 3.288804 deg/s, posRepo size: 4
2021-08-14T13:48:48.458Z,1628948928.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.860001 m,
      bearing: 142.578874 deg,
      approachRate: 0.664261 m/s,
      LOS rate: 3.288804 deg/s,
      cmd update: 9.866412 deg/s,
      cmd heading: 118.338389 deg,
      new cmd heading: 113.981350 deg.

2021-08-14T13:48:50.886Z,1628948930.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:51.223Z,1628948931.223 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:51.223Z,1628948931.223 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:51.223Z,1628948931.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:51.224Z,1628948931.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:51.633Z,1628948931.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC5,000,00B8C,186,80,80,78,FF
2021-08-14T13:48:51.634Z,1628948931.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:51.634Z,1628948931.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:51.635Z,1628948931.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:52.033Z,1628948932.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:52.875Z,1628948932.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134853.31*54

2021-08-14T13:48:53.675Z,1628948933.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:55.272Z,1628948935.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,78,FF
2021-08-14T13:48:55.273Z,1628948935.273 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,78,FF
2021-08-14T13:48:55.273Z,1628948935.273 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:48:56.509Z,1628948936.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:48:56.874Z,1628948936.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:48:56.874Z,1628948936.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:48:56.874Z,1628948936.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:48:56.875Z,1628948936.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:48:57.294Z,1628948937.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,78,FF
2021-08-14T13:48:57.295Z,1628948937.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:48:57.295Z,1628948937.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:48:57.298Z,1628948937.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:48:57.688Z,1628948937.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:48:58.113Z,1628948938.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00BE8,186,80,80,72,FF
2021-08-14T13:48:58.132Z,1628948938.132 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:48:58.517Z,1628948938.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134858.98*5C

2021-08-14T13:48:58.554Z,1628948938.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.380005 m, bearing: 162.445531 deg, deltaT: 10.138127 s, approachRate: 0.544480 m/s, LOS rate: 1.959598 deg/s, posRepo size: 4
2021-08-14T13:48:58.557Z,1628948938.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 162.445531 deg,
      approachRate: 0.544480 m/s,
      LOS rate: 1.959598 deg/s,
      cmd update: 5.878795 deg/s,
      cmd heading: 218.334754 deg,
      new cmd heading: 222.033327 deg.

2021-08-14T13:49:01.015Z,1628948941.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:01.325Z,1628948941.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:01.325Z,1628948941.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:01.326Z,1628948941.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:01.327Z,1628948941.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:01.726Z,1628948941.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00BE8,186,80,80,72,FF
2021-08-14T13:49:01.726Z,1628948941.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:01.726Z,1628948941.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:01.728Z,1628948941.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:02.134Z,1628948942.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:02.541Z,1628948942.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,00C07,186,80,80,8F,FF
2021-08-14T13:49:02.541Z,1628948942.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:03.005Z,1628948943.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134903.41*57

2021-08-14T13:49:03.073Z,1628948943.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.240005 m, bearing: 185.508744 deg, deltaT: 4.402163 s, approachRate: 0.422520 m/s, LOS rate: 5.239064 deg/s, posRepo size: 4
2021-08-14T13:49:03.075Z,1628948943.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.240005 m,
      bearing: 185.508744 deg,
      approachRate: 0.422520 m/s,
      LOS rate: 5.239064 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 244.096387 deg,
      new cmd heading: 247.094102 deg.

2021-08-14T13:49:05.418Z,1628948945.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:05.788Z,1628948945.788 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:05.789Z,1628948945.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:05.789Z,1628948945.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:05.791Z,1628948945.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:06.174Z,1628948946.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,00C07,186,80,80,8F,FF
2021-08-14T13:49:06.174Z,1628948946.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:06.175Z,1628948946.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:06.177Z,1628948946.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:06.576Z,1628948946.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:06.999Z,1628948946.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,00C18,186,80,80,87,FF
2021-08-14T13:49:07.001Z,1628948947.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:07.007Z,1628948947.007 [Micromodem](INFO): Nmea in: $SNTTA,0.310421,0.310421,,,134907.86*58

2021-08-14T13:49:07.420Z,1628948947.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.259995 m, bearing: 166.683062 deg, deltaT: 4.544984 s, approachRate: 0.224421 m/s, LOS rate: -4.142079 deg/s, posRepo size: 4
2021-08-14T13:49:07.422Z,1628948947.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.259995 m,
      bearing: 166.683062 deg,
      approachRate: 0.224421 m/s,
      LOS rate: -4.142079 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 298.876124 deg,
      new cmd heading: 302.391020 deg.

2021-08-14T13:49:09.882Z,1628948949.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:10.209Z,1628948950.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:10.209Z,1628948950.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:10.209Z,1628948950.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:10.210Z,1628948950.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:10.622Z,1628948950.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,00C18,186,80,80,87,FF
2021-08-14T13:49:10.622Z,1628948950.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:10.622Z,1628948950.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:10.624Z,1628948950.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:11.057Z,1628948951.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:11.430Z,1628948951.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00C19,189,80,80,87,FF
2021-08-14T13:49:11.430Z,1628948951.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:11.914Z,1628948951.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.320007 m, bearing: 239.550990 deg, deltaT: 4.317534 s, approachRate: 0.013900 m/s, LOS rate: 16.877210 deg/s, posRepo size: 4
2021-08-14T13:49:11.915Z,1628948951.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.877210 deg/s. Setting heading cmd to target bearing of 239.550990deg and heading rate command to 0 deg/s.
2021-08-14T13:49:14.295Z,1628948954.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:14.657Z,1628948954.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:14.658Z,1628948954.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:14.658Z,1628948954.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:14.659Z,1628948954.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:15.058Z,1628948955.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00C19,189,80,80,87,FF
2021-08-14T13:49:15.058Z,1628948955.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:15.059Z,1628948955.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:15.061Z,1628948955.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:15.469Z,1628948955.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:15.870Z,1628948955.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C0D,189,80,80,77,FF
2021-08-14T13:49:15.870Z,1628948955.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:16.310Z,1628948956.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134916.74*55

2021-08-14T13:49:16.328Z,1628948956.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.600006 m, bearing: 294.235315 deg, deltaT: 4.506518 s, approachRate: -0.159769 m/s, LOS rate: 12.134496 deg/s, posRepo size: 4
2021-08-14T13:49:16.329Z,1628948956.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.134496 deg/s. Setting heading cmd to target bearing of 294.235315deg and heading rate command to 0 deg/s.
2021-08-14T13:49:18.753Z,1628948958.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:19.105Z,1628948959.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:19.105Z,1628948959.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:19.105Z,1628948959.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:19.106Z,1628948959.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:19.509Z,1628948959.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C0D,189,80,80,77,FF
2021-08-14T13:49:19.509Z,1628948959.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:19.510Z,1628948959.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:19.511Z,1628948959.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:19.916Z,1628948959.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:20.314Z,1628948960.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B7A,000,00BF2,189,80,80,A7,FF
2021-08-14T13:49:20.314Z,1628948960.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:20.755Z,1628948960.755 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134921.19*5A

2021-08-14T13:49:20.849Z,1628948960.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.979996 m, bearing: 302.890941 deg, deltaT: 4.378514 s, approachRate: -0.369991 m/s, LOS rate: 1.976841 deg/s, posRepo size: 4
2021-08-14T13:49:20.851Z,1628948960.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 302.890941 deg,
      approachRate: -0.369991 m/s,
      LOS rate: 1.976841 deg/s,
      cmd update: 5.930523 deg/s,
      cmd heading: 294.235315 deg,
      new cmd heading: 294.235315 deg.

2021-08-14T13:49:23.199Z,1628948963.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:23.545Z,1628948963.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:23.545Z,1628948963.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:23.545Z,1628948963.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:23.546Z,1628948963.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:23.953Z,1628948963.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B7A,000,00BF2,189,80,80,A7,FF
2021-08-14T13:49:23.953Z,1628948963.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:23.953Z,1628948963.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:23.955Z,1628948963.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:24.353Z,1628948964.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:24.758Z,1628948964.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00BD3,189,80,80,A7,FF
2021-08-14T13:49:24.758Z,1628948964.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:25.173Z,1628948965.173 [Micromodem](INFO): Nmea in: $SNTTA,0.421850,0.421975,,,134925.63*55

2021-08-14T13:49:25.243Z,1628948965.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.120010 m, bearing: 298.952162 deg, deltaT: 4.492126 s, approachRate: -0.414055 m/s, LOS rate: -0.876818 deg/s, posRepo size: 4
2021-08-14T13:49:25.246Z,1628948965.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.120010 m,
      bearing: 298.952162 deg,
      approachRate: -0.414055 m/s,
      LOS rate: -0.876818 deg/s,
      cmd update: -2.630455 deg/s,
      cmd heading: 320.806345 deg,
      new cmd heading: 323.360414 deg.

2021-08-14T13:49:27.599Z,1628948967.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:27.985Z,1628948967.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:27.985Z,1628948967.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:27.985Z,1628948967.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:27.986Z,1628948967.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:28.398Z,1628948968.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,00BD3,189,80,80,A7,FF
2021-08-14T13:49:28.398Z,1628948968.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:28.398Z,1628948968.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:28.400Z,1628948968.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:28.833Z,1628948968.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:29.211Z,1628948969.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,00BA8,189,80,80,AD,FF
2021-08-14T13:49:29.211Z,1628948969.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:29.215Z,1628948969.215 [Micromodem](INFO): Nmea in: $SNTTA,0.094163,0.157839,,,134930.08*52

2021-08-14T13:49:29.637Z,1628948969.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 310.562910 deg, deltaT: 4.444996 s, approachRate: -0.580428 m/s, LOS rate: 2.612094 deg/s, posRepo size: 4
2021-08-14T13:49:29.639Z,1628948969.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.540009 m,
      bearing: 310.562910 deg,
      approachRate: -0.580428 m/s,
      LOS rate: 2.612094 deg/s,
      cmd update: 7.836282 deg/s,
      cmd heading: 309.134237 deg,
      new cmd heading: 308.116295 deg.

2021-08-14T13:49:32.054Z,1628948972.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:32.437Z,1628948972.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:32.438Z,1628948972.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:32.438Z,1628948972.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:32.439Z,1628948972.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:32.853Z,1628948972.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,00BA8,189,80,80,AD,FF
2021-08-14T13:49:32.853Z,1628948972.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:32.854Z,1628948972.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:32.856Z,1628948972.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:33.244Z,1628948973.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:33.650Z,1628948973.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00B76,185,80,80,B4,FF
2021-08-14T13:49:33.650Z,1628948973.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:34.070Z,1628948974.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134934.53*50

2021-08-14T13:49:34.095Z,1628948974.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.540009 m, bearing: 305.383359 deg, deltaT: 4.397346 s, approachRate: -0.682230 m/s, LOS rate: -1.177881 deg/s, posRepo size: 4
2021-08-14T13:49:34.097Z,1628948974.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.540009 m,
      bearing: 305.383359 deg,
      approachRate: -0.682230 m/s,
      LOS rate: -1.177881 deg/s,
      cmd update: -3.533644 deg/s,
      cmd heading: 343.750464 deg,
      new cmd heading: 347.102716 deg.

2021-08-14T13:49:36.496Z,1628948976.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:36.873Z,1628948976.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:36.873Z,1628948976.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:36.873Z,1628948976.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:36.874Z,1628948976.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:37.281Z,1628948977.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00B76,185,80,80,B4,FF
2021-08-14T13:49:37.281Z,1628948977.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:37.281Z,1628948977.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:37.283Z,1628948977.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:37.685Z,1628948977.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:38.093Z,1628948978.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,00B43,185,80,80,A1,FF
2021-08-14T13:49:38.093Z,1628948978.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:38.529Z,1628948978.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134938.96*55

2021-08-14T13:49:38.563Z,1628948978.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.479996 m, bearing: 302.289228 deg, deltaT: 4.541077 s, approachRate: -0.673852 m/s, LOS rate: -0.681365 deg/s, posRepo size: 4
2021-08-14T13:49:38.565Z,1628948978.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.479996 m,
      bearing: 302.289228 deg,
      approachRate: -0.673852 m/s,
      LOS rate: -0.681365 deg/s,
      cmd update: -2.044095 deg/s,
      cmd heading: 327.732935 deg,
      new cmd heading: 326.453113 deg.

2021-08-14T13:49:41.009Z,1628948981.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:41.317Z,1628948981.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:41.317Z,1628948981.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:41.317Z,1628948981.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:41.318Z,1628948981.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:41.721Z,1628948981.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,00B43,185,80,80,A1,FF
2021-08-14T13:49:41.721Z,1628948981.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:41.722Z,1628948981.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:41.723Z,1628948981.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:42.129Z,1628948982.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:42.537Z,1628948982.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28C,000,00B11,189,80,80,A2,FF
2021-08-14T13:49:42.537Z,1628948982.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:43.010Z,1628948983.010 [Micromodem](INFO): Nmea in: $SNTTA,0.097488,,,,134943.40*46

2021-08-14T13:49:43.070Z,1628948983.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.479996 m, bearing: 298.021125 deg, deltaT: 4.345425 s, approachRate: -0.690381 m/s, LOS rate: -0.982206 deg/s, posRepo size: 4
2021-08-14T13:49:43.072Z,1628948983.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.479996 m,
      bearing: 298.021125 deg,
      approachRate: -0.690381 m/s,
      LOS rate: -0.982206 deg/s,
      cmd update: -2.946619 deg/s,
      cmd heading: 318.833720 deg,
      new cmd heading: 317.778586 deg.

2021-08-14T13:49:45.072Z,1628948985.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:45.353Z,1628948985.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:45.354Z,1628948985.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:45.354Z,1628948985.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:45.355Z,1628948985.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:45.773Z,1628948985.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28C,000,00B11,189,80,80,A2,FF
2021-08-14T13:49:45.773Z,1628948985.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:45.774Z,1628948985.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:45.780Z,1628948985.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:46.176Z,1628948986.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:46.577Z,1628948986.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,00AE5,187,80,80,93,FF
2021-08-14T13:49:46.577Z,1628948986.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:47.009Z,1628948987.009 [Micromodem](INFO): Nmea in: $SNTTA,0.467581,0.467706,,,134947.46*5D

2021-08-14T13:49:47.101Z,1628948987.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.840012 m, bearing: 306.103288 deg, deltaT: 4.040586 s, approachRate: -0.653367 m/s, LOS rate: 2.000245 deg/s, posRepo size: 4
2021-08-14T13:49:47.103Z,1628948987.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.840012 m,
      bearing: 306.103288 deg,
      approachRate: -0.653367 m/s,
      LOS rate: 2.000245 deg/s,
      cmd update: 6.000736 deg/s,
      cmd heading: 306.927710 deg,
      new cmd heading: 305.447211 deg.

2021-08-14T13:49:49.428Z,1628948989.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:49.837Z,1628948989.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:49.837Z,1628948989.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:49.837Z,1628948989.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:49.838Z,1628948989.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:50.205Z,1628948990.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,00AE5,187,80,80,93,FF
2021-08-14T13:49:50.205Z,1628948990.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:50.205Z,1628948990.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:50.207Z,1628948990.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:50.617Z,1628948990.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:51.029Z,1628948991.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00AB0,184,80,80,C5,FF
2021-08-14T13:49:51.029Z,1628948991.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:51.453Z,1628948991.453 [Micromodem](INFO): Nmea in: $SNTTA,0.089748,,,,134951.89*40

2021-08-14T13:49:51.489Z,1628948991.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.660004 m, bearing: 305.028817 deg, deltaT: 4.522358 s, approachRate: -0.703175 m/s, LOS rate: -0.237591 deg/s, posRepo size: 4
2021-08-14T13:49:51.491Z,1628948991.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.660004 m,
      bearing: 305.028817 deg,
      approachRate: -0.703175 m/s,
      LOS rate: -0.237591 deg/s,
      cmd update: -0.712773 deg/s,
      cmd heading: 334.016861 deg,
      new cmd heading: 336.294098 deg.

2021-08-14T13:49:53.906Z,1628948993.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:54.253Z,1628948994.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:54.253Z,1628948994.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:54.253Z,1628948994.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:54.254Z,1628948994.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:54.657Z,1628948994.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00AB0,184,80,80,C5,FF
2021-08-14T13:49:54.658Z,1628948994.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:54.658Z,1628948994.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:54.659Z,1628948994.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:55.069Z,1628948995.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:55.465Z,1628948995.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00A7C,186,80,80,BC,FF
2021-08-14T13:49:55.466Z,1628948995.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:49:55.897Z,1628948995.897 [Micromodem](INFO): Nmea in: $SNTTA,0.095365,,,,134956.34*47

2021-08-14T13:49:55.934Z,1628948995.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.540001 m, bearing: 304.063957 deg, deltaT: 4.365604 s, approachRate: -0.714678 m/s, LOS rate: -0.221014 deg/s, posRepo size: 4
2021-08-14T13:49:55.936Z,1628948995.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.540001 m,
      bearing: 304.063957 deg,
      approachRate: -0.714678 m/s,
      LOS rate: -0.221014 deg/s,
      cmd update: -0.663042 deg/s,
      cmd heading: 330.899291 deg,
      new cmd heading: 330.577692 deg.

2021-08-14T13:49:58.307Z,1628948998.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:49:58.701Z,1628948998.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:49:58.701Z,1628948998.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:49:58.701Z,1628948998.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:49:58.702Z,1628948998.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:49:59.116Z,1628948999.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00A7C,186,80,80,BC,FF
2021-08-14T13:49:59.116Z,1628948999.116 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:49:59.117Z,1628948999.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:49:59.118Z,1628948999.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:49:59.513Z,1628948999.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:49:59.909Z,1628948999.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,00A47,186,80,80,AB,FF
2021-08-14T13:49:59.910Z,1628948999.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:00.333Z,1628949000.333 [Micromodem](INFO): Nmea in: $SNTTA,0.104404,,,,135000.80*4A

2021-08-14T13:50:00.356Z,1628949000.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.360008 m, bearing: 301.642956 deg, deltaT: 4.522522 s, approachRate: -0.703146 m/s, LOS rate: -0.535321 deg/s, posRepo size: 4
2021-08-14T13:50:00.358Z,1628949000.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.360008 m,
      bearing: 301.642956 deg,
      approachRate: -0.703146 m/s,
      LOS rate: -0.535321 deg/s,
      cmd update: -1.605963 deg/s,
      cmd heading: 327.906079 deg,
      new cmd heading: 327.668207 deg.

2021-08-14T13:50:02.803Z,1628949002.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:03.164Z,1628949003.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:03.166Z,1628949003.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:03.167Z,1628949003.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:03.167Z,1628949003.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:03.553Z,1628949003.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,00A47,186,80,80,AB,FF
2021-08-14T13:50:03.553Z,1628949003.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:03.553Z,1628949003.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:03.555Z,1628949003.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:03.948Z,1628949003.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:04.357Z,1628949004.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DD,000,00A14,186,80,80,9F,FF
2021-08-14T13:50:04.358Z,1628949004.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:04.809Z,1628949004.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135005.23*5D

2021-08-14T13:50:04.845Z,1628949004.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 300.318445 deg, deltaT: 4.389929 s, approachRate: -0.697049 m/s, LOS rate: -0.301716 deg/s, posRepo size: 4
2021-08-14T13:50:04.847Z,1628949004.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.300011 m,
      bearing: 300.318445 deg,
      approachRate: -0.697049 m/s,
      LOS rate: -0.301716 deg/s,
      cmd update: -0.905147 deg/s,
      cmd heading: 320.843218 deg,
      new cmd heading: 320.119742 deg.

2021-08-14T13:50:07.223Z,1628949007.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:07.581Z,1628949007.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:07.581Z,1628949007.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:07.581Z,1628949007.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:07.582Z,1628949007.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:07.989Z,1628949007.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DD,000,00A14,186,80,80,9F,FF
2021-08-14T13:50:07.990Z,1628949007.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:07.990Z,1628949007.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:07.991Z,1628949007.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:08.400Z,1628949008.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:08.825Z,1628949008.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,009E3,186,80,80,A9,FF
2021-08-14T13:50:08.825Z,1628949008.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:09.233Z,1628949009.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135009.67*51

2021-08-14T13:50:09.296Z,1628949009.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.360008 m, bearing: 302.401161 deg, deltaT: 4.548358 s, approachRate: -0.646388 m/s, LOS rate: 0.457905 deg/s, posRepo size: 4
2021-08-14T13:50:09.298Z,1628949009.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.360008 m,
      bearing: 302.401161 deg,
      approachRate: -0.646388 m/s,
      LOS rate: 0.457905 deg/s,
      cmd update: 1.373715 deg/s,
      cmd heading: 316.758620 deg,
      new cmd heading: 316.410628 deg.

2021-08-14T13:50:11.639Z,1628949011.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:12.033Z,1628949012.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:12.033Z,1628949012.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:12.033Z,1628949012.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:12.034Z,1628949012.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:12.434Z,1628949012.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,009E3,186,80,80,A9,FF
2021-08-14T13:50:12.434Z,1628949012.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:12.434Z,1628949012.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:12.436Z,1628949012.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:12.856Z,1628949012.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:13.242Z,1628949013.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,009AD,185,80,80,B6,FF
2021-08-14T13:50:13.242Z,1628949013.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:13.673Z,1628949013.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135014.11*5C

2021-08-14T13:50:13.709Z,1628949013.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.119995 m, bearing: 302.402910 deg, deltaT: 4.355786 s, approachRate: -0.743841 m/s, LOS rate: 0.000401 deg/s, posRepo size: 4
2021-08-14T13:50:13.711Z,1628949013.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.119995 m,
      bearing: 302.402910 deg,
      approachRate: -0.743841 m/s,
      LOS rate: 0.000401 deg/s,
      cmd update: 0.001204 deg/s,
      cmd heading: 322.791396 deg,
      new cmd heading: 323.354038 deg.

2021-08-14T13:50:16.114Z,1628949016.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:16.469Z,1628949016.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:16.469Z,1628949016.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:16.469Z,1628949016.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:16.470Z,1628949016.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:16.881Z,1628949016.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,009AD,185,80,80,B6,FF
2021-08-14T13:50:16.881Z,1628949016.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:16.881Z,1628949016.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:16.883Z,1628949016.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:17.280Z,1628949017.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:17.689Z,1628949017.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00978,186,80,80,A9,FF
2021-08-14T13:50:17.689Z,1628949017.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:18.125Z,1628949018.125 [Micromodem](INFO): Nmea in: $SNTTA,0.078477,,,,135018.57*47

2021-08-14T13:50:18.217Z,1628949018.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.940002 m, bearing: 301.429826 deg, deltaT: 4.431009 s, approachRate: -0.717668 m/s, LOS rate: -0.219608 deg/s, posRepo size: 4
2021-08-14T13:50:18.219Z,1628949018.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.940002 m,
      bearing: 301.429826 deg,
      approachRate: -0.717668 m/s,
      LOS rate: -0.219608 deg/s,
      cmd update: -0.658823 deg/s,
      cmd heading: 322.796704 deg,
      new cmd heading: 322.797313 deg.

2021-08-14T13:50:20.527Z,1628949020.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:20.959Z,1628949020.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:20.959Z,1628949020.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:20.959Z,1628949020.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:20.960Z,1628949020.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:21.322Z,1628949021.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00978,186,80,80,A9,FF
2021-08-14T13:50:21.322Z,1628949021.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:21.322Z,1628949021.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:21.324Z,1628949021.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:21.755Z,1628949021.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:22.125Z,1628949022.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,150,000,00946,185,80,80,9C,FF
2021-08-14T13:50:22.125Z,1628949022.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:22.579Z,1628949022.579 [Micromodem](INFO): Nmea in: $SNTTA,0.077336,,,,135023.01*41

2021-08-14T13:50:22.600Z,1628949022.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.939995 m, bearing: 300.614193 deg, deltaT: 4.458795 s, approachRate: -0.672829 m/s, LOS rate: -0.182927 deg/s, posRepo size: 4
2021-08-14T13:50:22.602Z,1628949022.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.939995 m,
      bearing: 300.614193 deg,
      approachRate: -0.672829 m/s,
      LOS rate: -0.182927 deg/s,
      cmd update: -0.548781 deg/s,
      cmd heading: 319.848748 deg,
      new cmd heading: 319.572972 deg.

2021-08-14T13:50:25.063Z,1628949025.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:25.361Z,1628949025.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:25.362Z,1628949025.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:25.362Z,1628949025.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:25.363Z,1628949025.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:25.781Z,1628949025.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
150,000,00946,185,80,80,9C,FF
2021-08-14T13:50:25.782Z,1628949025.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:25.782Z,1628949025.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:25.797Z,1628949025.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:26.177Z,1628949026.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:26.590Z,1628949026.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,00911,186,80,80,BF,FF
2021-08-14T13:50:26.590Z,1628949026.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:27.033Z,1628949027.033 [Micromodem](INFO): Nmea in: $SNTTA,0.106739,,,,135027.48*44

2021-08-14T13:50:27.091Z,1628949027.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.760002 m, bearing: 301.094328 deg, deltaT: 4.426159 s, approachRate: -0.718454 m/s, LOS rate: 0.108477 deg/s, posRepo size: 4
2021-08-14T13:50:27.109Z,1628949027.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.760002 m,
      bearing: 301.094328 deg,
      approachRate: -0.718454 m/s,
      LOS rate: 0.108477 deg/s,
      cmd update: 0.325430 deg/s,
      cmd heading: 317.415289 deg,
      new cmd heading: 317.154379 deg.

2021-08-14T13:50:27.828Z,1628949027.828 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T13:50:29.434Z,1628949029.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:29.846Z,1628949029.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:29.846Z,1628949029.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:29.846Z,1628949029.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:29.847Z,1628949029.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:30.213Z,1628949030.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,00911,186,80,80,BF,FF
2021-08-14T13:50:30.213Z,1628949030.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:30.213Z,1628949030.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:30.215Z,1628949030.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:30.645Z,1628949030.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:31.065Z,1628949031.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,008E1,186,80,80,9F,FF
2021-08-14T13:50:31.065Z,1628949031.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:31.069Z,1628949031.069 [Micromodem](INFO): Nmea in: $SNTTA,0.289553,0.289422,,,135031.90*55

2021-08-14T13:50:31.486Z,1628949031.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.880005 m, bearing: 300.550043 deg, deltaT: 4.544980 s, approachRate: -0.633666 m/s, LOS rate: -0.119755 deg/s, posRepo size: 4
2021-08-14T13:50:31.488Z,1628949031.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.880005 m,
      bearing: 300.550043 deg,
      approachRate: -0.633666 m/s,
      LOS rate: -0.119755 deg/s,
      cmd update: -0.359265 deg/s,
      cmd heading: 318.894000 deg,
      new cmd heading: 319.000399 deg.

2021-08-14T13:50:33.929Z,1628949033.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:34.253Z,1628949034.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:34.253Z,1628949034.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:34.253Z,1628949034.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:34.254Z,1628949034.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:34.653Z,1628949034.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,008E1,186,80,80,9F,FF
2021-08-14T13:50:34.653Z,1628949034.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:34.653Z,1628949034.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:34.655Z,1628949034.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:35.065Z,1628949035.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:35.472Z,1628949035.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,008AF,185,80,80,D0,FF
2021-08-14T13:50:35.473Z,1628949035.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:35.909Z,1628949035.909 [Micromodem](INFO): Nmea in: $SNTTA,0.063787,,,,135036.34*48

2021-08-14T13:50:35.935Z,1628949035.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.879997 m, bearing: 300.671129 deg, deltaT: 4.344721 s, approachRate: -0.690495 m/s, LOS rate: 0.027870 deg/s, posRepo size: 4
2021-08-14T13:50:35.954Z,1628949035.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.879997 m,
      bearing: 300.671129 deg,
      approachRate: -0.690495 m/s,
      LOS rate: 0.027870 deg/s,
      cmd update: 0.083609 deg/s,
      cmd heading: 317.333949 deg,
      new cmd heading: 317.178064 deg.

2021-08-14T13:50:38.331Z,1628949038.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:38.709Z,1628949038.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:38.709Z,1628949038.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:38.710Z,1628949038.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:38.710Z,1628949038.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:39.113Z,1628949039.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,008AF,185,80,80,D0,FF
2021-08-14T13:50:39.113Z,1628949039.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:39.113Z,1628949039.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:39.115Z,1628949039.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:39.517Z,1628949039.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:39.913Z,1628949039.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,0087A,186,80,80,9C,FF
2021-08-14T13:50:39.913Z,1628949039.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:40.358Z,1628949040.358 [Micromodem](INFO): Nmea in: $SNTTA,0.064037,,,,135040.80*4D

2021-08-14T13:50:40.414Z,1628949040.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.700005 m, bearing: 299.462295 deg, deltaT: 4.473951 s, approachRate: -0.710779 m/s, LOS rate: -0.270194 deg/s, posRepo size: 4
2021-08-14T13:50:40.420Z,1628949040.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.700005 m,
      bearing: 299.462295 deg,
      approachRate: -0.710779 m/s,
      LOS rate: -0.270194 deg/s,
      cmd update: -0.810582 deg/s,
      cmd heading: 317.707297 deg,
      new cmd heading: 317.744669 deg.

2021-08-14T13:50:42.825Z,1628949042.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:43.156Z,1628949043.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:43.156Z,1628949043.156 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:43.157Z,1628949043.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:43.157Z,1628949043.157 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:43.557Z,1628949043.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,0087A,186,80,80,9C,FF
2021-08-14T13:50:43.557Z,1628949043.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:43.557Z,1628949043.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:43.559Z,1628949043.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:43.957Z,1628949043.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:44.354Z,1628949044.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00846,186,80,80,C6,FF
2021-08-14T13:50:44.354Z,1628949044.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:44.813Z,1628949044.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135045.24*5E

2021-08-14T13:50:44.849Z,1628949044.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.580002 m, bearing: 299.146276 deg, deltaT: 4.420762 s, approachRate: -0.705761 m/s, LOS rate: -0.071485 deg/s, posRepo size: 4
2021-08-14T13:50:44.851Z,1628949044.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.580002 m,
      bearing: 299.146276 deg,
      approachRate: -0.705761 m/s,
      LOS rate: -0.071485 deg/s,
      cmd update: -0.214456 deg/s,
      cmd heading: 314.117374 deg,
      new cmd heading: 313.749645 deg.

2021-08-14T13:50:47.263Z,1628949047.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:47.597Z,1628949047.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:47.598Z,1628949047.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:47.598Z,1628949047.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:47.599Z,1628949047.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:48.005Z,1628949048.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00846,186,80,80,C6,FF
2021-08-14T13:50:48.005Z,1628949048.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:48.005Z,1628949048.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:48.007Z,1628949048.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:48.400Z,1628949048.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:48.833Z,1628949048.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00817,186,80,80,96,FF
2021-08-14T13:50:48.834Z,1628949048.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:49.246Z,1628949049.246 [Micromodem](INFO): Nmea in: $SNTTA,,0.062095,,,135049.69*4D

2021-08-14T13:50:49.291Z,1628949049.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.760010 m, bearing: 300.362596 deg, deltaT: 4.587585 s, approachRate: -0.614701 m/s, LOS rate: 0.265133 deg/s, posRepo size: 4
2021-08-14T13:50:49.311Z,1628949049.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.760010 m,
      bearing: 300.362596 deg,
      approachRate: -0.614701 m/s,
      LOS rate: 0.265133 deg/s,
      cmd update: 0.795399 deg/s,
      cmd heading: 313.137932 deg,
      new cmd heading: 313.067858 deg.

2021-08-14T13:50:51.670Z,1628949051.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:52.053Z,1628949052.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:52.053Z,1628949052.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:52.053Z,1628949052.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:52.054Z,1628949052.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:52.442Z,1628949052.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00817,186,80,80,96,FF
2021-08-14T13:50:52.442Z,1628949052.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:52.442Z,1628949052.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:52.444Z,1628949052.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:52.845Z,1628949052.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:53.273Z,1628949053.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,007E6,186,80,80,B7,FF
2021-08-14T13:50:53.274Z,1628949053.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:53.681Z,1628949053.681 [Micromodem](INFO): Nmea in: $SNTTA,0.070635,,,,135054.12*42

2021-08-14T13:50:53.703Z,1628949053.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.820007 m, bearing: 299.219878 deg, deltaT: 4.390507 s, approachRate: -0.669627 m/s, LOS rate: -0.260270 deg/s, posRepo size: 4
2021-08-14T13:50:53.706Z,1628949053.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.820007 m,
      bearing: 299.219878 deg,
      approachRate: -0.669627 m/s,
      LOS rate: -0.260270 deg/s,
      cmd update: -0.780811 deg/s,
      cmd heading: 316.640398 deg,
      new cmd heading: 316.908584 deg.

2021-08-14T13:50:56.106Z,1628949056.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:50:56.477Z,1628949056.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:50:56.477Z,1628949056.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:50:56.477Z,1628949056.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:50:56.478Z,1628949056.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:50:56.888Z,1628949056.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,007E6,186,80,80,B7,FF
2021-08-14T13:50:56.889Z,1628949056.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:50:56.890Z,1628949056.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:50:56.896Z,1628949056.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:50:57.310Z,1628949057.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:50:57.701Z,1628949057.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,007AD,186,80,80,A7,FF
2021-08-14T13:50:57.701Z,1628949057.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:50:58.121Z,1628949058.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135058.58*59

2021-08-14T13:50:58.165Z,1628949058.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 298.791980 deg, deltaT: 4.373781 s, approachRate: -0.781935 m/s, LOS rate: -0.097832 deg/s, posRepo size: 4
2021-08-14T13:50:58.167Z,1628949058.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.399994 m,
      bearing: 298.791980 deg,
      approachRate: -0.781935 m/s,
      LOS rate: -0.097832 deg/s,
      cmd update: -0.293497 deg/s,
      cmd heading: 313.221386 deg,
      new cmd heading: 312.893723 deg.

2021-08-14T13:51:00.549Z,1628949060.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:00.957Z,1628949060.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:00.957Z,1628949060.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:00.957Z,1628949060.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:00.958Z,1628949060.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:01.337Z,1628949061.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,007AD,186,80,80,A7,FF
2021-08-14T13:51:01.337Z,1628949061.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:01.337Z,1628949061.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:01.339Z,1628949061.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:01.746Z,1628949061.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:02.142Z,1628949062.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,0077A,186,80,80,AD,FF
2021-08-14T13:51:02.142Z,1628949062.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:02.569Z,1628949062.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135103.02*59

2021-08-14T13:51:02.592Z,1628949062.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.339996 m, bearing: 298.245674 deg, deltaT: 4.417757 s, approachRate: -0.692659 m/s, LOS rate: -0.123661 deg/s, posRepo size: 4
2021-08-14T13:51:02.594Z,1628949062.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.339996 m,
      bearing: 298.245674 deg,
      approachRate: -0.692659 m/s,
      LOS rate: -0.123661 deg/s,
      cmd update: -0.370984 deg/s,
      cmd heading: 311.922940 deg,
      new cmd heading: 311.798859 deg.

2021-08-14T13:51:05.072Z,1628949065.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:05.393Z,1628949065.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:05.393Z,1628949065.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:05.393Z,1628949065.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:05.394Z,1628949065.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:05.803Z,1628949065.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,0077A,186,80,80,AD,FF
2021-08-14T13:51:05.803Z,1628949065.803 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:05.803Z,1628949065.803 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:05.805Z,1628949065.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:06.185Z,1628949066.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:06.573Z,1628949066.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,00747,185,80,80,C3,FF
2021-08-14T13:51:06.574Z,1628949066.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:07.021Z,1628949067.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135107.48*53

2021-08-14T13:51:07.082Z,1628949067.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 297.619237 deg, deltaT: 4.458446 s, approachRate: -0.686337 m/s, LOS rate: -0.140506 deg/s, posRepo size: 4
2021-08-14T13:51:07.084Z,1628949067.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.279999 m,
      bearing: 297.619237 deg,
      approachRate: -0.686337 m/s,
      LOS rate: -0.140506 deg/s,
      cmd update: -0.421517 deg/s,
      cmd heading: 310.270364 deg,
      new cmd heading: 310.100234 deg.

2021-08-14T13:51:09.423Z,1628949069.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:09.837Z,1628949069.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:09.837Z,1628949069.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:09.837Z,1628949069.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:09.838Z,1628949069.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:10.217Z,1628949070.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,00747,185,80,80,C3,FF
2021-08-14T13:51:10.217Z,1628949070.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:10.217Z,1628949070.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:10.219Z,1628949070.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:10.625Z,1628949070.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:11.046Z,1628949071.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00714,186,80,80,CA,FF
2021-08-14T13:51:11.046Z,1628949071.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:11.049Z,1628949071.049 [Micromodem](INFO): Nmea in: $SNTTA,0.053496,0.287308,,,135111.90*5A

2021-08-14T13:51:11.476Z,1628949071.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.220001 m, bearing: 297.640738 deg, deltaT: 4.509216 s, approachRate: -0.678610 m/s, LOS rate: 0.004768 deg/s, posRepo size: 4
2021-08-14T13:51:11.478Z,1628949071.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.220001 m,
      bearing: 297.640738 deg,
      approachRate: -0.678610 m/s,
      LOS rate: 0.004768 deg/s,
      cmd update: 0.014305 deg/s,
      cmd heading: 308.374756 deg,
      new cmd heading: 308.225184 deg.

2021-08-14T13:51:13.902Z,1628949073.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:14.253Z,1628949074.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:14.253Z,1628949074.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:14.253Z,1628949074.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:14.254Z,1628949074.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:14.666Z,1628949074.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00714,186,80,80,CA,FF
2021-08-14T13:51:14.666Z,1628949074.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:14.666Z,1628949074.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:14.668Z,1628949074.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:15.076Z,1628949075.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:15.470Z,1628949075.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,006E3,186,80,80,A1,FF
2021-08-14T13:51:15.470Z,1628949075.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:15.913Z,1628949075.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135116.35*59

2021-08-14T13:51:15.950Z,1628949075.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.279999 m, bearing: 297.357722 deg, deltaT: 4.349987 s, approachRate: -0.675865 m/s, LOS rate: -0.065061 deg/s, posRepo size: 4
2021-08-14T13:51:15.952Z,1628949075.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.279999 m,
      bearing: 297.357722 deg,
      approachRate: -0.675865 m/s,
      LOS rate: -0.065061 deg/s,
      cmd update: -0.195184 deg/s,
      cmd heading: 308.437213 deg,
      new cmd heading: 308.443838 deg.

2021-08-14T13:51:18.338Z,1628949078.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:18.709Z,1628949078.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:18.709Z,1628949078.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:18.709Z,1628949078.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:18.710Z,1628949078.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:19.109Z,1628949079.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,006E3,186,80,80,A1,FF
2021-08-14T13:51:19.109Z,1628949079.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:19.110Z,1628949079.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:19.111Z,1628949079.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:19.513Z,1628949079.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:19.913Z,1628949079.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,006AA,186,80,80,C1,FF
2021-08-14T13:51:19.914Z,1628949079.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:20.361Z,1628949080.361 [Micromodem](INFO): Nmea in: $SNTTA,0.065022,,,,135120.79*49

2021-08-14T13:51:20.381Z,1628949080.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.860008 m, bearing: 297.534296 deg, deltaT: 4.496231 s, approachRate: -0.760635 m/s, LOS rate: 0.039272 deg/s, posRepo size: 4
2021-08-14T13:51:20.383Z,1628949080.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.860008 m,
      bearing: 297.534296 deg,
      approachRate: -0.760635 m/s,
      LOS rate: 0.039272 deg/s,
      cmd update: 0.117815 deg/s,
      cmd heading: 307.559586 deg,
      new cmd heading: 307.481993 deg.

2021-08-14T13:51:22.812Z,1628949082.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:23.149Z,1628949083.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:23.149Z,1628949083.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:23.149Z,1628949083.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:23.150Z,1628949083.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:23.549Z,1628949083.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,006AA,186,80,80,C1,FF
2021-08-14T13:51:23.549Z,1628949083.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:23.549Z,1628949083.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:23.551Z,1628949083.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:23.957Z,1628949083.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:24.354Z,1628949084.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00676,186,80,80,A1,FF
2021-08-14T13:51:24.354Z,1628949084.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:24.824Z,1628949084.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 297.609237 deg, deltaT: 4.387504 s, approachRate: -0.711112 m/s, LOS rate: 0.017081 deg/s, posRepo size: 4
2021-08-14T13:51:24.826Z,1628949084.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 297.609237 deg,
      approachRate: -0.711112 m/s,
      LOS rate: 0.017081 deg/s,
      cmd update: 0.051242 deg/s,
      cmd heading: 308.076496 deg,
      new cmd heading: 308.129890 deg.

2021-08-14T13:51:27.257Z,1628949087.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:27.590Z,1628949087.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:27.590Z,1628949087.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:27.590Z,1628949087.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:27.591Z,1628949087.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:27.993Z,1628949087.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00676,186,80,80,A1,FF
2021-08-14T13:51:27.993Z,1628949087.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:27.993Z,1628949087.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:27.995Z,1628949087.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:28.409Z,1628949088.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:28.833Z,1628949088.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00647,187,80,80,A2,FF
2021-08-14T13:51:28.834Z,1628949088.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:29.225Z,1628949089.225 [Micromodem](INFO): Nmea in: $SNTTA,0.056330,0.359881,,,135129.68*50

2021-08-14T13:51:29.273Z,1628949089.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 296.913733 deg, deltaT: 4.551441 s, approachRate: -0.619583 m/s, LOS rate: -0.152810 deg/s, posRepo size: 4
2021-08-14T13:51:29.275Z,1628949089.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.920006 m,
      bearing: 296.913733 deg,
      approachRate: -0.619583 m/s,
      LOS rate: -0.152810 deg/s,
      cmd update: -0.458429 deg/s,
      cmd heading: 308.306585 deg,
      new cmd heading: 308.327664 deg.

2021-08-14T13:51:31.655Z,1628949091.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:32.041Z,1628949092.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:32.041Z,1628949092.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:32.041Z,1628949092.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:32.042Z,1628949092.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:32.437Z,1628949092.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00647,187,80,80,A2,FF
2021-08-14T13:51:32.437Z,1628949092.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:32.437Z,1628949092.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:32.439Z,1628949092.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:32.848Z,1628949092.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:33.254Z,1628949093.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0060F,186,80,80,84,FF
2021-08-14T13:51:33.254Z,1628949093.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:33.681Z,1628949093.681 [Micromodem](INFO): Nmea in: $SNTTA,0.063456,,,,135134.12*40

2021-08-14T13:51:33.715Z,1628949093.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.560005 m, bearing: 297.019409 deg, deltaT: 4.397157 s, approachRate: -0.764130 m/s, LOS rate: 0.024033 deg/s, posRepo size: 4
2021-08-14T13:51:33.717Z,1628949093.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.560005 m,
      bearing: 297.019409 deg,
      approachRate: -0.764130 m/s,
      LOS rate: 0.024033 deg/s,
      cmd update: 0.072099 deg/s,
      cmd heading: 306.262862 deg,
      new cmd heading: 306.081404 deg.

2021-08-14T13:51:36.128Z,1628949096.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:36.487Z,1628949096.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:36.487Z,1628949096.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:36.487Z,1628949096.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:36.488Z,1628949096.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:36.905Z,1628949096.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0060F,186,80,80,84,FF
2021-08-14T13:51:36.905Z,1628949096.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:36.906Z,1628949096.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:36.916Z,1628949096.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:37.301Z,1628949097.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:37.693Z,1628949097.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,005D9,186,80,80,A1,FF
2021-08-14T13:51:37.694Z,1628949097.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:38.119Z,1628949098.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135138.60*55

2021-08-14T13:51:38.172Z,1628949098.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 296.274864 deg, deltaT: 4.390737 s, approachRate: -0.737919 m/s, LOS rate: -0.169572 deg/s, posRepo size: 4
2021-08-14T13:51:38.174Z,1628949098.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.319996 m,
      bearing: 296.274864 deg,
      approachRate: -0.737919 m/s,
      LOS rate: -0.169572 deg/s,
      cmd update: -0.508715 deg/s,
      cmd heading: 306.579449 deg,
      new cmd heading: 306.612433 deg.

2021-08-14T13:51:40.552Z,1628949100.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:40.954Z,1628949100.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:40.955Z,1628949100.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:40.955Z,1628949100.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:40.956Z,1628949100.956 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:41.337Z,1628949101.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,005D9,186,80,80,A1,FF
2021-08-14T13:51:41.337Z,1628949101.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:41.337Z,1628949101.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:41.339Z,1628949101.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:41.739Z,1628949101.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:42.149Z,1628949102.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,005A5,186,80,80,A4,FF
2021-08-14T13:51:42.149Z,1628949102.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:42.569Z,1628949102.569 [Micromodem](INFO): Nmea in: $SNTTA,0.055944,,,,135143.02*4A

2021-08-14T13:51:42.592Z,1628949102.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 295.175258 deg, deltaT: 4.466070 s, approachRate: -0.698601 m/s, LOS rate: -0.246213 deg/s, posRepo size: 4
2021-08-14T13:51:42.594Z,1628949102.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.199993 m,
      bearing: 295.175258 deg,
      approachRate: -0.698601 m/s,
      LOS rate: -0.246213 deg/s,
      cmd update: -0.738640 deg/s,
      cmd heading: 304.307517 deg,
      new cmd heading: 304.096118 deg.

2021-08-14T13:51:45.051Z,1628949105.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:45.389Z,1628949105.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:45.389Z,1628949105.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:45.389Z,1628949105.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:45.390Z,1628949105.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:45.762Z,1628949105.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,005A5,186,80,80,A4,FF
2021-08-14T13:51:45.763Z,1628949105.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:45.763Z,1628949105.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:45.770Z,1628949105.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:46.183Z,1628949106.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:46.581Z,1628949106.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00572,186,80,80,A8,FF
2021-08-14T13:51:46.581Z,1628949106.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:47.021Z,1628949107.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135147.45*5A

2021-08-14T13:51:47.087Z,1628949107.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 294.689632 deg, deltaT: 4.422322 s, approachRate: -0.691943 m/s, LOS rate: -0.109813 deg/s, posRepo size: 4
2021-08-14T13:51:47.089Z,1628949107.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.139999 m,
      bearing: 294.689632 deg,
      approachRate: -0.691943 m/s,
      LOS rate: -0.109813 deg/s,
      cmd update: -0.329438 deg/s,
      cmd heading: 301.041005 deg,
      new cmd heading: 300.680475 deg.

2021-08-14T13:51:49.445Z,1628949109.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:49.841Z,1628949109.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:49.841Z,1628949109.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:49.841Z,1628949109.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:49.842Z,1628949109.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:50.210Z,1628949110.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00572,186,80,80,A8,FF
2021-08-14T13:51:50.210Z,1628949110.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:50.211Z,1628949110.211 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:50.214Z,1628949110.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:50.616Z,1628949110.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:51.026Z,1628949111.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,028,000,0053C,184,80,80,8E,FF
2021-08-14T13:51:51.026Z,1628949111.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:51.031Z,1628949111.031 [Micromodem](INFO): Nmea in: $SNTTA,0.250357,0.250426,,,135151.90*54

2021-08-14T13:51:51.451Z,1628949111.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.899998 m, bearing: 296.019880 deg, deltaT: 4.537731 s, approachRate: -0.714014 m/s, LOS rate: 0.293153 deg/s, posRepo size: 4
2021-08-14T13:51:51.454Z,1628949111.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.899998 m,
      bearing: 296.019880 deg,
      approachRate: -0.714014 m/s,
      LOS rate: 0.293153 deg/s,
      cmd update: 0.879458 deg/s,
      cmd heading: 299.546618 deg,
      new cmd heading: 299.442234 deg.

2021-08-14T13:51:53.890Z,1628949113.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:54.249Z,1628949114.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:54.249Z,1628949114.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:54.250Z,1628949114.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:54.251Z,1628949114.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:54.653Z,1628949114.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
028,000,0053C,184,80,80,8E,FF
2021-08-14T13:51:54.653Z,1628949114.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:54.653Z,1628949114.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:54.655Z,1628949114.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:55.063Z,1628949115.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:55.461Z,1628949115.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00505,185,80,80,6D,FF
2021-08-14T13:51:55.462Z,1628949115.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:55.906Z,1628949115.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135156.34*5C

2021-08-14T13:51:55.951Z,1628949115.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 293.077625 deg, deltaT: 4.342394 s, approachRate: -0.759949 m/s, LOS rate: -0.677565 deg/s, posRepo size: 4
2021-08-14T13:51:55.951Z,1628949115.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.60 m.
2021-08-14T13:51:55.953Z,1628949115.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.599998 m,
      bearing: 293.077625 deg,
      approachRate: -0.759949 m/s,
      LOS rate: -0.677565 deg/s,
      cmd update: -2.032695 deg/s,
      cmd heading: 303.366973 deg,
      new cmd heading: 303.782150 deg.

2021-08-14T13:51:56.378Z,1628949116.378 [PowerOnly](INFO): Powering up loadControl
2021-08-14T13:51:56.421Z,1628949116.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:51:56.422Z,1628949116.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:51:56.422Z,1628949116.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:51:56.422Z,1628949116.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:51:56.423Z,1628949116.423 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:51:56.423Z,1628949116.423 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:51:56.754Z,1628949116.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:51:56.754Z,1628949116.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:51:56.754Z,1628949116.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:51:56.754Z,1628949116.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:51:58.002Z,1628949118.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:51:58.342Z,1628949118.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:51:58.342Z,1628949118.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:51:58.342Z,1628949118.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:51:58.343Z,1628949118.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:51:58.705Z,1628949118.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00505,185,80,80,6D,FF
2021-08-14T13:51:58.705Z,1628949118.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:51:58.705Z,1628949118.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:51:58.707Z,1628949118.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:51:59.101Z,1628949119.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:51:59.510Z,1628949119.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,004D8,184,80,80,79,FF
2021-08-14T13:51:59.510Z,1628949119.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:51:59.535Z,1628949119.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:51:59.949Z,1628949119.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135200.39*51

2021-08-14T13:52:00.011Z,1628949120.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.900002 m, bearing: 290.722603 deg, deltaT: 4.053334 s, approachRate: -0.666118 m/s, LOS rate: -0.581009 deg/s, posRepo size: 4
2021-08-14T13:52:00.016Z,1628949120.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.90 m.
2021-08-14T13:52:00.018Z,1628949120.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.900002 m,
      bearing: 290.722603 deg,
      approachRate: -0.666118 m/s,
      LOS rate: -0.581009 deg/s,
      cmd update: -1.743026 deg/s,
      cmd heading: 295.128787 deg,
      new cmd heading: 294.153374 deg.

2021-08-14T13:52:02.357Z,1628949122.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:02.733Z,1628949122.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:02.734Z,1628949122.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:02.734Z,1628949122.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:02.735Z,1628949122.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:03.137Z,1628949123.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,004D8,184,80,80,79,FF
2021-08-14T13:52:03.137Z,1628949123.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:03.137Z,1628949123.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:03.139Z,1628949123.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:03.557Z,1628949123.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:03.950Z,1628949123.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,004A8,183,80,80,78,FF
2021-08-14T13:52:03.950Z,1628949123.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:03.981Z,1628949123.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:04.385Z,1628949124.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135204.82*55

2021-08-14T13:52:04.407Z,1628949124.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 290.644029 deg, deltaT: 4.445888 s, approachRate: -0.647790 m/s, LOS rate: -0.017674 deg/s, posRepo size: 4
2021-08-14T13:52:04.408Z,1628949124.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.02 m.
2021-08-14T13:52:04.410Z,1628949124.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.020000 m,
      bearing: 290.644029 deg,
      approachRate: -0.647790 m/s,
      LOS rate: -0.017674 deg/s,
      cmd update: -0.053021 deg/s,
      cmd heading: 287.379400 deg,
      new cmd heading: 286.629822 deg.

2021-08-14T13:52:06.837Z,1628949126.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:07.181Z,1628949127.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:07.181Z,1628949127.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:07.181Z,1628949127.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:07.182Z,1628949127.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:07.585Z,1628949127.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,004A8,183,80,80,78,FF
2021-08-14T13:52:07.585Z,1628949127.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:07.586Z,1628949127.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:07.587Z,1628949127.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:07.989Z,1628949127.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:08.393Z,1628949128.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,0047D,185,80,80,9C,FF
2021-08-14T13:52:08.394Z,1628949128.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:08.474Z,1628949128.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:08.853Z,1628949128.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135209.27*57

2021-08-14T13:52:08.972Z,1628949128.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 289.733264 deg, deltaT: 4.493865 s, approachRate: -0.574116 m/s, LOS rate: -0.202668 deg/s, posRepo size: 4
2021-08-14T13:52:08.973Z,1628949128.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.44 m.
2021-08-14T13:52:08.975Z,1628949128.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.440002 m,
      bearing: 289.733264 deg,
      approachRate: -0.574116 m/s,
      LOS rate: -0.202668 deg/s,
      cmd update: -0.608005 deg/s,
      cmd heading: 287.141352 deg,
      new cmd heading: 287.114815 deg.

2021-08-14T13:52:11.351Z,1628949131.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:11.648Z,1628949131.648 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:11.648Z,1628949131.648 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:11.648Z,1628949131.648 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:11.649Z,1628949131.649 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:12.050Z,1628949132.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,0047D,185,80,80,9C,FF
2021-08-14T13:52:12.050Z,1628949132.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:12.050Z,1628949132.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:12.052Z,1628949132.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:12.449Z,1628949132.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:12.853Z,1628949132.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,0044E,184,80,80,4E,FF
2021-08-14T13:52:12.853Z,1628949132.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:12.975Z,1628949132.975 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:13.273Z,1628949133.273 [Micromodem](INFO): Nmea in: $SNTTA,0.035441,,,,135213.74*43

2021-08-14T13:52:13.336Z,1628949133.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 286.706643 deg, deltaT: 4.505762 s, approachRate: -0.625866 m/s, LOS rate: -0.671722 deg/s, posRepo size: 4
2021-08-14T13:52:13.336Z,1628949133.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.62 m.
2021-08-14T13:52:13.337Z,1628949133.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.62 m.
2021-08-14T13:52:13.337Z,1628949133.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T13:52:13.339Z,1628949133.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.620001 m,
      bearing: 286.706643 deg,
      approachRate: -0.625866 m/s,
      LOS rate: -0.671722 deg/s,
      cmd update: -2.015167 deg/s,
      cmd heading: 284.406055 deg,
      new cmd heading: 284.181321 deg.

2021-08-14T13:52:15.700Z,1628949135.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:16.077Z,1628949136.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:16.077Z,1628949136.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:16.077Z,1628949136.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:16.078Z,1628949136.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:16.481Z,1628949136.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,0044E,184,80,80,4E,FF
2021-08-14T13:52:16.481Z,1628949136.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:16.481Z,1628949136.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:16.483Z,1628949136.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:16.899Z,1628949136.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:17.286Z,1628949137.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,00415,186,80,80,54,FF
2021-08-14T13:52:17.286Z,1628949137.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:17.361Z,1628949137.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:17.726Z,1628949137.726 [Micromodem](INFO): Nmea in: $SNTTA,0.045085,,,,135218.16*47

2021-08-14T13:52:17.758Z,1628949137.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 295.318310 deg, deltaT: 4.380372 s, approachRate: -0.780756 m/s, LOS rate: 1.965967 deg/s, posRepo size: 4
2021-08-14T13:52:17.766Z,1628949137.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.199999 m,
      bearing: 295.318310 deg,
      approachRate: -0.780756 m/s,
      LOS rate: 1.965967 deg/s,
      cmd update: 5.897901 deg/s,
      cmd heading: 275.573537 deg,
      new cmd heading: 274.752316 deg.

2021-08-14T13:52:20.143Z,1628949140.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:20.513Z,1628949140.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:20.513Z,1628949140.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:20.513Z,1628949140.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:20.514Z,1628949140.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:20.953Z,1628949140.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,00415,186,80,80,54,FF
2021-08-14T13:52:20.953Z,1628949140.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:20.953Z,1628949140.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:20.955Z,1628949140.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:21.332Z,1628949141.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:21.725Z,1628949141.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,003E6,189,80,80,72,FF
2021-08-14T13:52:21.726Z,1628949141.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:21.813Z,1628949141.813 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:22.148Z,1628949142.148 [Micromodem](INFO): Nmea in: $SNTTA,0.040096,,,,135222.64*4C

2021-08-14T13:52:22.203Z,1628949142.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 300.116190 deg, deltaT: 4.455132 s, approachRate: -0.632978 m/s, LOS rate: 1.076933 deg/s, posRepo size: 4
2021-08-14T13:52:22.209Z,1628949142.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.379997 m,
      bearing: 300.116190 deg,
      approachRate: -0.632978 m/s,
      LOS rate: 1.076933 deg/s,
      cmd update: 3.230800 deg/s,
      cmd heading: 301.672721 deg,
      new cmd heading: 304.203009 deg.

2021-08-14T13:52:24.679Z,1628949144.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:25.029Z,1628949145.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:25.029Z,1628949145.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:25.029Z,1628949145.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:25.029Z,1628949145.029 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:25.417Z,1628949145.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,003E6,189,80,80,72,FF
2021-08-14T13:52:25.417Z,1628949145.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:25.417Z,1628949145.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:25.419Z,1628949145.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:25.863Z,1628949145.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:26.213Z,1628949146.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,003B6,187,80,80,63,FF
2021-08-14T13:52:26.213Z,1628949146.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:26.266Z,1628949146.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:26.646Z,1628949146.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135227.10*5F

2021-08-14T13:52:26.667Z,1628949146.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 290.057698 deg, deltaT: 4.450111 s, approachRate: -0.647175 m/s, LOS rate: -2.260279 deg/s, posRepo size: 4
2021-08-14T13:52:26.670Z,1628949146.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.499998 m,
      bearing: 290.057698 deg,
      approachRate: -0.647175 m/s,
      LOS rate: -2.260279 deg/s,
      cmd update: -6.780837 deg/s,
      cmd heading: 316.160997 deg,
      new cmd heading: 317.482094 deg.

2021-08-14T13:52:29.096Z,1628949149.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:29.453Z,1628949149.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:29.454Z,1628949149.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:29.454Z,1628949149.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:29.455Z,1628949149.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:29.861Z,1628949149.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,003B6,187,80,80,63,FF
2021-08-14T13:52:29.861Z,1628949149.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:29.861Z,1628949149.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:29.863Z,1628949149.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:30.269Z,1628949150.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:30.657Z,1628949150.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,0038A,186,80,80,9C,FF
2021-08-14T13:52:30.657Z,1628949150.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:30.713Z,1628949150.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:31.102Z,1628949151.102 [Micromodem](INFO): Nmea in: $SNTTA,0.116785,,,,135231.54*4A

2021-08-14T13:52:31.168Z,1628949151.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 297.253494 deg, deltaT: 4.447620 s, approachRate: -0.593575 m/s, LOS rate: 1.617898 deg/s, posRepo size: 4
2021-08-14T13:52:31.170Z,1628949151.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 297.253494 deg,
      approachRate: -0.593575 m/s,
      LOS rate: 1.617898 deg/s,
      cmd update: 4.853694 deg/s,
      cmd heading: 286.000812 deg,
      new cmd heading: 282.898769 deg.

2021-08-14T13:52:33.527Z,1628949153.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:33.893Z,1628949153.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:33.893Z,1628949153.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:33.893Z,1628949153.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:33.894Z,1628949153.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:34.293Z,1628949154.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,0038A,186,80,80,9C,FF
2021-08-14T13:52:34.293Z,1628949154.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:34.293Z,1628949154.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:34.295Z,1628949154.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:34.723Z,1628949154.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:35.105Z,1628949155.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0036B,186,80,80,73,FF
2021-08-14T13:52:35.106Z,1628949155.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:35.207Z,1628949155.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:35.533Z,1628949155.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135235.98*5C

2021-08-14T13:52:35.573Z,1628949155.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 298.400774 deg, deltaT: 4.494106 s, approachRate: -0.413876 m/s, LOS rate: 0.255286 deg/s, posRepo size: 4
2021-08-14T13:52:35.575Z,1628949155.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 298.400774 deg,
      approachRate: -0.413876 m/s,
      LOS rate: 0.255286 deg/s,
      cmd update: 0.765857 deg/s,
      cmd heading: 307.831765 deg,
      new cmd heading: 309.623366 deg.

2021-08-14T13:52:38.050Z,1628949158.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:38.369Z,1628949158.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:38.369Z,1628949158.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:38.369Z,1628949158.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:38.370Z,1628949158.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:38.773Z,1628949158.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0036B,186,80,80,73,FF
2021-08-14T13:52:38.773Z,1628949158.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:38.774Z,1628949158.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:38.780Z,1628949158.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:39.153Z,1628949159.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:39.549Z,1628949159.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDC,000,00330,185,80,80,B7,FF
2021-08-14T13:52:39.549Z,1628949159.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:39.570Z,1628949159.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:39.971Z,1628949159.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135240.47*5C

2021-08-14T13:52:40.031Z,1628949160.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 296.016956 deg, deltaT: 4.362740 s, approachRate: -0.811417 m/s, LOS rate: -0.546404 deg/s, posRepo size: 4
2021-08-14T13:52:40.037Z,1628949160.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 296.016956 deg,
      approachRate: -0.811417 m/s,
      LOS rate: -0.546404 deg/s,
      cmd update: -1.639212 deg/s,
      cmd heading: 311.173200 deg,
      new cmd heading: 311.528242 deg.

2021-08-14T13:52:42.398Z,1628949162.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:42.797Z,1628949162.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:42.797Z,1628949162.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:42.797Z,1628949162.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:42.798Z,1628949162.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:43.189Z,1628949163.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDC,000,00330,185,80,80,B7,FF
2021-08-14T13:52:43.189Z,1628949163.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:43.189Z,1628949163.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:43.191Z,1628949163.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:43.597Z,1628949163.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:43.989Z,1628949163.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,00309,185,80,80,AC,FF
2021-08-14T13:52:43.989Z,1628949163.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:44.045Z,1628949164.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:44.434Z,1628949164.434 [Micromodem](INFO): Nmea in: $SNTTA,0.104651,,,,135244.88*42

2021-08-14T13:52:44.455Z,1628949164.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 290.393853 deg, deltaT: 4.474433 s, approachRate: -0.522971 m/s, LOS rate: -1.256719 deg/s, posRepo size: 4
2021-08-14T13:52:44.458Z,1628949164.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 290.393853 deg,
      approachRate: -0.522971 m/s,
      LOS rate: -1.256719 deg/s,
      cmd update: -3.770156 deg/s,
      cmd heading: 303.838588 deg,
      new cmd heading: 303.160340 deg.

2021-08-14T13:52:46.963Z,1628949166.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:47.237Z,1628949167.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:47.237Z,1628949167.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:47.237Z,1628949167.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:47.238Z,1628949167.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:47.629Z,1628949167.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
143,000,00309,185,80,80,AC,FF
2021-08-14T13:52:47.629Z,1628949167.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:47.629Z,1628949167.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:47.631Z,1628949167.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:48.037Z,1628949168.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:48.446Z,1628949168.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,002E0,186,80,80,BD,FF
2021-08-14T13:52:48.446Z,1628949168.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:48.471Z,1628949168.471 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:48.892Z,1628949168.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135249.32*57

2021-08-14T13:52:48.978Z,1628949168.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 293.525003 deg, deltaT: 4.425919 s, approachRate: -0.555817 m/s, LOS rate: 0.707458 deg/s, posRepo size: 4
2021-08-14T13:52:48.979Z,1628949168.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.660000 m,
      bearing: 293.525003 deg,
      approachRate: -0.555817 m/s,
      LOS rate: 0.707458 deg/s,
      cmd update: 2.122373 deg/s,
      cmd heading: 287.152251 deg,
      new cmd heading: 285.229543 deg.

2021-08-14T13:52:51.314Z,1628949171.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:51.729Z,1628949171.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:51.729Z,1628949171.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:51.729Z,1628949171.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:51.730Z,1628949171.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:52.089Z,1628949172.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,002E0,186,80,80,BD,FF
2021-08-14T13:52:52.089Z,1628949172.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:52.089Z,1628949172.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:52.091Z,1628949172.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:52.493Z,1628949172.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:52.877Z,1628949172.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FED,000,002C3,183,80,80,A0,FF
2021-08-14T13:52:52.878Z,1628949172.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:52.979Z,1628949172.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:53.360Z,1628949173.360 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T13:52:53.361Z,1628949173.361 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T13:52:53.361Z,1628949173.361 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T13:52:53.361Z,1628949173.361 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T13:52:53.361Z,1628949173.361 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T13:52:53.362Z,1628949173.362 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2021-08-14T13:52:53.362Z,1628949173.362 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T13:52:53.362Z,1628949173.362 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T13:52:53.362Z,1628949173.362 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T13:52:53.365Z,1628949173.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 293.248079 deg, deltaT: 4.508250 s, approachRate: -0.385960 m/s, LOS rate: -0.061426 deg/s, posRepo size: 4
2021-08-14T13:52:53.367Z,1628949173.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 293.248079 deg,
      approachRate: -0.385960 m/s,
      LOS rate: -0.061426 deg/s,
      cmd update: -0.184278 deg/s,
      cmd heading: 296.711887 deg,
      new cmd heading: 297.545262 deg.

2021-08-14T13:52:53.722Z,1628949173.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T135253: (41.552319, -70.708603)
2021-08-14T13:52:53.722Z,1628949173.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T13:52:53.722Z,1628949173.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T13:52:53.722Z,1628949173.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T13:52:53.722Z,1628949173.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T13:52:53.723Z,1628949173.723 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T13:52:53.723Z,1628949173.723 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T13:52:53.723Z,1628949173.723 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T13:52:53.723Z,1628949173.723 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T13:52:54.139Z,1628949174.139 [UniversalFixResidualReporter](INFO): Fix residual: 2.5 %DT, over the last 976.5 m. Residual distance 24.4 m at bearing 47.0 degrees. Fix at (41.5513, -70.7068) with 0.0 m made good.
2021-08-14T13:52:55.727Z,1628949175.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:52:56.105Z,1628949176.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:52:56.105Z,1628949176.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:52:56.105Z,1628949176.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:52:56.106Z,1628949176.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:52:56.509Z,1628949176.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FED,000,002C3,183,80,80,A0,FF
2021-08-14T13:52:56.510Z,1628949176.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:52:56.510Z,1628949176.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:52:56.511Z,1628949176.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:52:56.950Z,1628949176.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:52:57.329Z,1628949177.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,002BB,187,80,80,9E,FF
2021-08-14T13:52:57.330Z,1628949177.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:52:57.349Z,1628949177.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:52:57.777Z,1628949177.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135258.19*5E

2021-08-14T13:52:57.835Z,1628949177.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 283.395286 deg, deltaT: 4.370524 s, approachRate: -0.109826 m/s, LOS rate: -2.254374 deg/s, posRepo size: 4
2021-08-14T13:52:57.837Z,1628949177.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 283.395286 deg,
      approachRate: -0.109826 m/s,
      LOS rate: -2.254374 deg/s,
      cmd update: -6.763121 deg/s,
      cmd heading: 295.905756 deg,
      new cmd heading: 295.815770 deg.

2021-08-14T13:53:00.182Z,1628949180.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:00.557Z,1628949180.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:00.557Z,1628949180.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:00.557Z,1628949180.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:00.558Z,1628949180.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:00.989Z,1628949180.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,002BB,187,80,80,9E,FF
2021-08-14T13:53:00.989Z,1628949180.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:00.989Z,1628949180.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:00.991Z,1628949180.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:01.369Z,1628949181.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:01.795Z,1628949181.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,002E8,185,80,80,89,FF
2021-08-14T13:53:01.795Z,1628949181.795 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:01.865Z,1628949181.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:02.195Z,1628949182.195 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135302.67*59

2021-08-14T13:53:02.216Z,1628949182.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 290.558870 deg, deltaT: 4.515736 s, approachRate: 0.597909 m/s, LOS rate: 1.586360 deg/s, posRepo size: 4
2021-08-14T13:53:02.218Z,1628949182.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 290.558870 deg,
      approachRate: 0.597909 m/s,
      LOS rate: 1.586360 deg/s,
      cmd update: 4.759081 deg/s,
      cmd heading: 265.365100 deg,
      new cmd heading: 262.974316 deg.

2021-08-14T13:53:04.634Z,1628949184.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:05.009Z,1628949185.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:05.009Z,1628949185.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:05.009Z,1628949185.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:05.010Z,1628949185.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:05.401Z,1628949185.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,002E8,185,80,80,89,FF
2021-08-14T13:53:05.401Z,1628949185.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:05.401Z,1628949185.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:05.403Z,1628949185.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:05.905Z,1628949185.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:06.219Z,1628949186.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00307,186,80,80,2E,FF
2021-08-14T13:53:06.219Z,1628949186.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:06.259Z,1628949186.259 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:06.658Z,1628949186.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135307.09*54

2021-08-14T13:53:06.673Z,1628949186.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 308.467599 deg, deltaT: 4.393879 s, approachRate: 0.423316 m/s, LOS rate: 4.075836 deg/s, posRepo size: 4
2021-08-14T13:53:06.675Z,1628949186.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 308.467599 deg,
      approachRate: 0.423316 m/s,
      LOS rate: 4.075836 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 286.180403 deg,
      new cmd heading: 288.260178 deg.

2021-08-14T13:53:09.108Z,1628949189.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:09.441Z,1628949189.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:09.441Z,1628949189.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:09.441Z,1628949189.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:09.442Z,1628949189.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:09.857Z,1628949189.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00307,186,80,80,2E,FF
2021-08-14T13:53:09.857Z,1628949189.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:09.857Z,1628949189.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:09.859Z,1628949189.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:10.261Z,1628949190.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:10.677Z,1628949190.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,0031B,187,80,80,57,FF
2021-08-14T13:53:10.678Z,1628949190.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:10.698Z,1628949190.698 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:11.105Z,1628949191.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135311.54*5B

2021-08-14T13:53:11.151Z,1628949191.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 287.258222 deg, deltaT: 4.438813 s, approachRate: 0.270343 m/s, LOS rate: -4.778164 deg/s, posRepo size: 4
2021-08-14T13:53:11.174Z,1628949191.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 287.258222 deg,
      approachRate: 0.270343 m/s,
      LOS rate: -4.778164 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 339.685884 deg,
      new cmd heading: 345.165780 deg.

2021-08-14T13:53:13.520Z,1628949193.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:13.909Z,1628949193.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:13.909Z,1628949193.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:13.909Z,1628949193.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:13.910Z,1628949193.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:14.293Z,1628949194.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,0031B,187,80,80,57,FF
2021-08-14T13:53:14.293Z,1628949194.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:14.293Z,1628949194.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:14.295Z,1628949194.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:14.713Z,1628949194.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:15.105Z,1628949195.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,00362,187,80,80,81,FF
2021-08-14T13:53:15.105Z,1628949195.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:15.197Z,1628949195.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:15.546Z,1628949195.546 [Micromodem](INFO): Nmea in: $SNTTA,0.164053,,,,135315.98*44

2021-08-14T13:53:15.573Z,1628949195.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 300.810164 deg, deltaT: 4.499619 s, approachRate: 0.946746 m/s, LOS rate: 3.011798 deg/s, posRepo size: 4
2021-08-14T13:53:15.573Z,1628949195.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.46 m. Rolling out.
2021-08-14T13:53:15.574Z,1628949195.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T13:53:16.827Z,1628949196.827 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T13:53:17.998Z,1628949197.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:18.347Z,1628949198.347 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:18.347Z,1628949198.347 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:18.347Z,1628949198.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:18.364Z,1628949198.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:18.779Z,1628949198.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,00362,187,80,80,81,FF
2021-08-14T13:53:18.779Z,1628949198.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:18.784Z,1628949198.784 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:18.794Z,1628949198.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:19.226Z,1628949199.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:19.974Z,1628949199.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135320.48*54

2021-08-14T13:53:20.819Z,1628949200.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:22.457Z,1628949202.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,187,80,80,81,FF
2021-08-14T13:53:22.457Z,1628949202.457 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,187,80,80,81,FF
2021-08-14T13:53:22.457Z,1628949202.457 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:53:23.610Z,1628949203.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:23.986Z,1628949203.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:23.986Z,1628949203.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:23.987Z,1628949203.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:23.991Z,1628949203.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:24.407Z,1628949204.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,187,80,80,81,FF
2021-08-14T13:53:24.408Z,1628949204.408 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:24.408Z,1628949204.408 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:24.411Z,1628949204.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:24.836Z,1628949204.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:25.206Z,1628949205.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,003BF,186,80,80,46,FF
2021-08-14T13:53:25.206Z,1628949205.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:25.299Z,1628949205.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:25.637Z,1628949205.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135326.09*57

2021-08-14T13:53:25.675Z,1628949205.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 303.915114 deg, deltaT: 10.101376 s, approachRate: 0.552400 m/s, LOS rate: 0.307379 deg/s, posRepo size: 4
2021-08-14T13:53:28.070Z,1628949208.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:28.430Z,1628949208.430 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:28.431Z,1628949208.431 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:28.431Z,1628949208.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:28.433Z,1628949208.433 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:28.847Z,1628949208.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,003BF,186,80,80,46,FF
2021-08-14T13:53:28.847Z,1628949208.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:28.847Z,1628949208.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:28.849Z,1628949208.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:29.244Z,1628949209.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:29.641Z,1628949209.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,003EB,186,80,80,5D,FF
2021-08-14T13:53:29.641Z,1628949209.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:29.662Z,1628949209.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:30.089Z,1628949210.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135330.53*5F

2021-08-14T13:53:30.137Z,1628949210.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 272.127468 deg, deltaT: 4.362790 s, approachRate: 0.605117 m/s, LOS rate: -7.286082 deg/s, posRepo size: 4
2021-08-14T13:53:30.554Z,1628949210.554 [PowerOnly](INFO): Powering down loadControl
2021-08-14T13:53:32.490Z,1628949212.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:33.009Z,1628949213.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:33.009Z,1628949213.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:33.009Z,1628949213.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:33.010Z,1628949213.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:33.293Z,1628949213.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,003EB,186,80,80,5D,FF
2021-08-14T13:53:33.293Z,1628949213.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:33.293Z,1628949213.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:33.295Z,1628949213.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:33.701Z,1628949213.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:34.101Z,1628949214.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,0041B,183,80,80,73,FF
2021-08-14T13:53:34.101Z,1628949214.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:34.195Z,1628949214.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:34.517Z,1628949214.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135334.98*5C

2021-08-14T13:53:34.540Z,1628949214.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 289.282089 deg, deltaT: 4.533177 s, approachRate: 0.635317 m/s, LOS rate: 3.784238 deg/s, posRepo size: 4
2021-08-14T13:53:37.022Z,1628949217.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:37.317Z,1628949217.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:37.317Z,1628949217.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:37.318Z,1628949217.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:37.318Z,1628949217.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:37.717Z,1628949217.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,0041B,183,80,80,73,FF
2021-08-14T13:53:37.717Z,1628949217.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:37.718Z,1628949217.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:37.719Z,1628949217.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:38.129Z,1628949218.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:38.541Z,1628949218.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,0049C,186,80,80,45,FF
2021-08-14T13:53:38.542Z,1628949218.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:38.586Z,1628949218.586 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:39.014Z,1628949219.014 [Micromodem](INFO): Nmea in: $SNTTA,0.041352,,,,135339.41*4A

2021-08-14T13:53:39.101Z,1628949219.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 279.224936 deg, deltaT: 4.390701 s, approachRate: 1.762817 m/s, LOS rate: -2.290558 deg/s, posRepo size: 4
2021-08-14T13:53:41.389Z,1628949221.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:41.780Z,1628949221.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:41.781Z,1628949221.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:41.781Z,1628949221.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:41.782Z,1628949221.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:42.165Z,1628949222.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,0049C,186,80,80,45,FF
2021-08-14T13:53:42.165Z,1628949222.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:42.165Z,1628949222.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:42.167Z,1628949222.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:42.581Z,1628949222.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:43.486Z,1628949223.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135343.85*50

2021-08-14T13:53:44.208Z,1628949224.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,044BF,187,80,80,55,FF
2021-08-14T13:53:44.209Z,1628949224.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:44.228Z,1628949224.228 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:53:44.637Z,1628949224.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1018.440063 m, bearing: 286.421387 deg, deltaT: 5.642867 s, approachRate: 174.581482 m/s, LOS rate: 1.275318 deg/s, posRepo size: 4
2021-08-14T13:53:44.638Z,1628949224.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1018.44 m. Resuming terminal guidance.
2021-08-14T13:53:44.638Z,1628949224.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T13:53:45.072Z,1628949225.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:53:45.072Z,1628949225.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:53:45.073Z,1628949225.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:53:45.073Z,1628949225.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:53:45.073Z,1628949225.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:53:45.073Z,1628949225.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:53:45.437Z,1628949225.437 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:53:45.437Z,1628949225.437 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:53:45.437Z,1628949225.437 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:53:45.438Z,1628949225.438 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:53:47.086Z,1628949227.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:47.429Z,1628949227.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:47.429Z,1628949227.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:47.429Z,1628949227.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:47.430Z,1628949227.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:47.857Z,1628949227.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,044BF,187,80,80,55,FF
2021-08-14T13:53:47.857Z,1628949227.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:47.858Z,1628949227.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:47.859Z,1628949227.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:48.229Z,1628949228.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:49.067Z,1628949229.067 [Micromodem](INFO): Nmea in: $SNTTA,0.466592,0.466761,,,135349.54*58

2021-08-14T13:53:49.902Z,1628949229.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:51.457Z,1628949231.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,55,FF
2021-08-14T13:53:51.457Z,1628949231.457 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,55,FF
2021-08-14T13:53:51.458Z,1628949231.458 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:53:52.687Z,1628949232.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:53.085Z,1628949233.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:53.085Z,1628949233.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:53.085Z,1628949233.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:53.086Z,1628949233.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:53.486Z,1628949233.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,55,FF
2021-08-14T13:53:53.486Z,1628949233.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:53.486Z,1628949233.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:53.488Z,1628949233.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:53.888Z,1628949233.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:54.285Z,1628949234.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00615,184,80,80,87,FF
2021-08-14T13:53:54.286Z,1628949234.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:53:54.721Z,1628949234.721 [Micromodem](INFO): Nmea in: $SNTTA,0.058780,,,,135355.17*40

2021-08-14T13:53:54.798Z,1628949234.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 296.763742 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T13:53:54.799Z,1628949234.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 296.763742deg and heading rate command to 0 deg/s.
2021-08-14T13:53:56.851Z,1628949236.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:53:57.129Z,1628949237.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:53:57.129Z,1628949237.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:53:57.129Z,1628949237.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:53:57.129Z,1628949237.129 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:53:57.529Z,1628949237.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00615,184,80,80,87,FF
2021-08-14T13:53:57.530Z,1628949237.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:53:57.530Z,1628949237.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:53:57.531Z,1628949237.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:53:57.934Z,1628949237.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:53:58.740Z,1628949238.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135359.23*57

2021-08-14T13:53:59.563Z,1628949239.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:01.173Z,1628949241.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,87,FF
2021-08-14T13:54:01.173Z,1628949241.173 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,87,FF
2021-08-14T13:54:01.173Z,1628949241.173 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:54:02.394Z,1628949242.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:02.797Z,1628949242.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:02.797Z,1628949242.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:02.797Z,1628949242.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:02.797Z,1628949242.797 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:03.173Z,1628949243.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,87,FF
2021-08-14T13:54:03.173Z,1628949243.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:03.173Z,1628949243.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:03.175Z,1628949243.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:03.588Z,1628949243.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:03.985Z,1628949243.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,0055E,186,80,80,3B,FF
2021-08-14T13:54:03.985Z,1628949243.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:04.417Z,1628949244.417 [Micromodem](INFO): Nmea in: $SNTTA,0.066729,,,,135404.86*45

2021-08-14T13:54:04.439Z,1628949244.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 317.440500 deg, deltaT: 9.744180 s, approachRate: -1.126826 m/s, LOS rate: 2.121960 deg/s, posRepo size: 2
2021-08-14T13:54:04.461Z,1628949244.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.940002 m,
      bearing: 317.440500 deg,
      approachRate: -1.126826 m/s,
      LOS rate: 2.121960 deg/s,
      cmd update: 6.365880 deg/s,
      cmd heading: 296.763742 deg,
      new cmd heading: 296.763742 deg.

2021-08-14T13:54:06.931Z,1628949246.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:07.213Z,1628949247.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:07.213Z,1628949247.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:07.213Z,1628949247.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:07.214Z,1628949247.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:07.625Z,1628949247.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,0055E,186,80,80,3B,FF
2021-08-14T13:54:07.625Z,1628949247.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:07.625Z,1628949247.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:07.627Z,1628949247.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:08.029Z,1628949248.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:08.442Z,1628949248.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,0058A,186,80,80,82,FF
2021-08-14T13:54:08.443Z,1628949248.443 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:08.884Z,1628949248.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135409.31*56

2021-08-14T13:54:08.970Z,1628949248.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.579998 m, bearing: 326.952577 deg, deltaT: 4.412611 s, approachRate: 0.598284 m/s, LOS rate: 2.155657 deg/s, posRepo size: 3
2021-08-14T13:54:08.973Z,1628949248.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.579998 m,
      bearing: 326.952577 deg,
      approachRate: 0.598284 m/s,
      LOS rate: 2.155657 deg/s,
      cmd update: 6.466972 deg/s,
      cmd heading: 324.878955 deg,
      new cmd heading: 328.123084 deg.

2021-08-14T13:54:10.974Z,1628949250.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:11.281Z,1628949251.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:11.281Z,1628949251.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:11.281Z,1628949251.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:11.282Z,1628949251.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:11.677Z,1628949251.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,0058A,186,80,80,82,FF
2021-08-14T13:54:11.678Z,1628949251.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:11.678Z,1628949251.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:11.680Z,1628949251.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:12.085Z,1628949252.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:12.481Z,1628949252.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,005BA,183,80,80,7C,FF
2021-08-14T13:54:12.482Z,1628949252.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:12.949Z,1628949252.949 [Micromodem](INFO): Nmea in: $SNTTA,0.041885,,,,135413.36*44

2021-08-14T13:54:13.006Z,1628949253.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 320.958840 deg, deltaT: 4.071368 s, approachRate: 0.707378 m/s, LOS rate: -1.472168 deg/s, posRepo size: 4
2021-08-14T13:54:13.025Z,1628949253.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.459995 m,
      bearing: 320.958840 deg,
      approachRate: 0.707378 m/s,
      LOS rate: -1.472168 deg/s,
      cmd update: -4.416503 deg/s,
      cmd heading: 351.182897 deg,
      new cmd heading: 354.283461 deg.

2021-08-14T13:54:15.327Z,1628949255.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:15.713Z,1628949255.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:15.714Z,1628949255.714 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:15.714Z,1628949255.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:15.715Z,1628949255.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:16.113Z,1628949256.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,005BA,183,80,80,7C,FF
2021-08-14T13:54:16.113Z,1628949256.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:16.114Z,1628949256.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:16.115Z,1628949256.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:16.567Z,1628949256.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:16.957Z,1628949256.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,005E3,185,80,80,96,FF
2021-08-14T13:54:16.957Z,1628949256.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:17.369Z,1628949257.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135417.80*53

2021-08-14T13:54:17.392Z,1628949257.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 358.954008 deg, deltaT: 4.493621 s, approachRate: 0.547442 m/s, LOS rate: 8.455357 deg/s, posRepo size: 4
2021-08-14T13:54:17.394Z,1628949257.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.919994 m,
      bearing: 358.954008 deg,
      approachRate: 0.547442 m/s,
      LOS rate: 8.455357 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.319020 deg,
      new cmd heading: 329.697346 deg.

2021-08-14T13:54:19.819Z,1628949259.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:20.157Z,1628949260.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:20.157Z,1628949260.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:20.157Z,1628949260.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:20.158Z,1628949260.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:20.557Z,1628949260.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,005E3,185,80,80,96,FF
2021-08-14T13:54:20.557Z,1628949260.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:20.557Z,1628949260.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:20.559Z,1628949260.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:21.001Z,1628949261.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:21.365Z,1628949261.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00604,18A,80,80,63,FF
2021-08-14T13:54:21.366Z,1628949261.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:21.813Z,1628949261.813 [Micromodem](INFO): Nmea in: $SNTTA,0.044299,,,,135422.24*47

2021-08-14T13:54:21.851Z,1628949261.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 19.977771 deg, deltaT: 4.406983 s, approachRate: 0.449289 m/s, LOS rate: 4.770560 deg/s, posRepo size: 4
2021-08-14T13:54:21.853Z,1628949261.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.900002 m,
      bearing: 19.977771 deg,
      approachRate: 0.449289 m/s,
      LOS rate: 4.770560 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.202086 deg,
      new cmd heading: 29.236818 deg.

2021-08-14T13:54:24.224Z,1628949264.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:24.615Z,1628949264.615 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:24.615Z,1628949264.615 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:24.615Z,1628949264.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:24.616Z,1628949264.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:25.005Z,1628949265.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,00604,18A,80,80,63,FF
2021-08-14T13:54:25.005Z,1628949265.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:25.005Z,1628949265.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:25.007Z,1628949265.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:25.418Z,1628949265.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:25.841Z,1628949265.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00627,187,80,80,5E,FF
2021-08-14T13:54:25.842Z,1628949265.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:26.261Z,1628949266.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135426.69*56

2021-08-14T13:54:26.289Z,1628949266.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.000004 m, bearing: 347.277772 deg, deltaT: 4.437947 s, approachRate: 0.473192 m/s, LOS rate: -7.368275 deg/s, posRepo size: 4
2021-08-14T13:54:26.290Z,1628949266.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.000004 m,
      bearing: 347.277772 deg,
      approachRate: 0.473192 m/s,
      LOS rate: -7.368275 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.452915 deg,
      new cmd heading: 82.485535 deg.

2021-08-14T13:54:28.655Z,1628949268.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:29.041Z,1628949269.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:29.041Z,1628949269.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:29.041Z,1628949269.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:29.042Z,1628949269.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:29.449Z,1628949269.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00627,187,80,80,5E,FF
2021-08-14T13:54:29.450Z,1628949269.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:29.450Z,1628949269.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:29.451Z,1628949269.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:29.852Z,1628949269.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:30.265Z,1628949270.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00646,186,80,80,A6,FF
2021-08-14T13:54:30.266Z,1628949270.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:30.698Z,1628949270.698 [Micromodem](INFO): Nmea in: $SNTTA,0.050625,,,,135431.13*47

2021-08-14T13:54:30.714Z,1628949270.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.860004 m, bearing: 39.939815 deg, deltaT: 4.438119 s, approachRate: 0.419097 m/s, LOS rate: 11.865845 deg/s, posRepo size: 4
2021-08-14T13:54:30.715Z,1628949270.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.865845 deg/s. Setting heading cmd to target bearing of 39.939815deg and heading rate command to 0 deg/s.
2021-08-14T13:54:33.160Z,1628949273.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:33.497Z,1628949273.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:33.497Z,1628949273.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:33.497Z,1628949273.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:33.498Z,1628949273.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:33.893Z,1628949273.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00646,186,80,80,A6,FF
2021-08-14T13:54:33.893Z,1628949273.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:33.893Z,1628949273.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:33.895Z,1628949273.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:34.317Z,1628949274.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:34.705Z,1628949274.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00652,188,80,80,74,FF
2021-08-14T13:54:34.706Z,1628949274.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:35.134Z,1628949275.134 [Micromodem](INFO): Nmea in: $SNTTA,0.447693,0.039196,,,135435.58*59

2021-08-14T13:54:35.200Z,1628949275.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.579998 m, bearing: 7.745530 deg, deltaT: 4.490999 s, approachRate: 0.160319 m/s, LOS rate: -7.168624 deg/s, posRepo size: 4
2021-08-14T13:54:35.202Z,1628949275.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.579998 m,
      bearing: 7.745530 deg,
      approachRate: 0.160319 m/s,
      LOS rate: -7.168624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 39.939815 deg,
      new cmd heading: 39.939815 deg.

2021-08-14T13:54:37.567Z,1628949277.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:37.949Z,1628949277.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:37.949Z,1628949277.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:37.949Z,1628949277.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:37.950Z,1628949277.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:38.341Z,1628949278.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00652,188,80,80,74,FF
2021-08-14T13:54:38.341Z,1628949278.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:38.342Z,1628949278.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:38.343Z,1628949278.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:38.755Z,1628949278.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:39.154Z,1628949279.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,00658,187,80,80,91,FF
2021-08-14T13:54:39.154Z,1628949279.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:39.580Z,1628949279.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.940006 m, bearing: 74.022619 deg, deltaT: 4.431107 s, approachRate: 0.081246 m/s, LOS rate: 14.957230 deg/s, posRepo size: 4
2021-08-14T13:54:39.581Z,1628949279.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.957230 deg/s. Setting heading cmd to target bearing of 74.022619deg and heading rate command to 0 deg/s.
2021-08-14T13:54:42.005Z,1628949282.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:42.385Z,1628949282.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:42.385Z,1628949282.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:42.385Z,1628949282.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:42.386Z,1628949282.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:42.805Z,1628949282.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,00658,187,80,80,91,FF
2021-08-14T13:54:42.806Z,1628949282.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:42.806Z,1628949282.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:42.807Z,1628949282.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:43.232Z,1628949283.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:43.630Z,1628949283.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,00663,189,80,80,66,FF
2021-08-14T13:54:43.630Z,1628949283.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:44.061Z,1628949284.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135444.49*50

2021-08-14T13:54:44.087Z,1628949284.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 63.708521 deg, deltaT: 4.416916 s, approachRate: 0.149424 m/s, LOS rate: -2.335136 deg/s, posRepo size: 4
2021-08-14T13:54:44.110Z,1628949284.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.599998 m,
      bearing: 63.708521 deg,
      approachRate: 0.149424 m/s,
      LOS rate: -2.335136 deg/s,
      cmd update: -7.005407 deg/s,
      cmd heading: 74.022619 deg,
      new cmd heading: 74.022619 deg.

2021-08-14T13:54:46.478Z,1628949286.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:46.857Z,1628949286.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:46.857Z,1628949286.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:46.858Z,1628949286.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:46.859Z,1628949286.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:47.277Z,1628949287.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,00663,189,80,80,66,FF
2021-08-14T13:54:47.277Z,1628949287.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:47.277Z,1628949287.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:47.279Z,1628949287.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:47.670Z,1628949287.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:48.078Z,1628949288.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,0067E,186,80,80,8D,FF
2021-08-14T13:54:48.078Z,1628949288.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:48.521Z,1628949288.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135448.96*5E

2021-08-14T13:54:48.561Z,1628949288.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 34.255953 deg, deltaT: 4.459088 s, approachRate: 0.363305 m/s, LOS rate: -6.605065 deg/s, posRepo size: 4
2021-08-14T13:54:48.563Z,1628949288.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.220009 m,
      bearing: 34.255953 deg,
      approachRate: 0.363305 m/s,
      LOS rate: -6.605065 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 42.785070 deg,
      new cmd heading: 39.591410 deg.

2021-08-14T13:54:50.971Z,1628949290.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:51.317Z,1628949291.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:51.317Z,1628949291.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:51.317Z,1628949291.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:51.318Z,1628949291.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:51.701Z,1628949291.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,0067E,186,80,80,8D,FF
2021-08-14T13:54:51.701Z,1628949291.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:51.701Z,1628949291.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:51.703Z,1628949291.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:52.119Z,1628949292.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:52.509Z,1628949292.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,0069B,186,80,80,9B,FF
2021-08-14T13:54:52.509Z,1628949292.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:52.973Z,1628949292.973 [Micromodem](INFO): Nmea in: $SNTTA,0.086973,,,,135453.39*4C

2021-08-14T13:54:53.038Z,1628949293.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 38.830742 deg, deltaT: 4.420914 s, approachRate: 0.393582 m/s, LOS rate: 1.034806 deg/s, posRepo size: 4
2021-08-14T13:54:53.041Z,1628949293.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.959999 m,
      bearing: 38.830742 deg,
      approachRate: 0.393582 m/s,
      LOS rate: 1.034806 deg/s,
      cmd update: 3.104418 deg/s,
      cmd heading: 349.736153 deg,
      new cmd heading: 343.589933 deg.

2021-08-14T13:54:55.054Z,1628949295.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:55.346Z,1628949295.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:55.346Z,1628949295.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:55.347Z,1628949295.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:55.347Z,1628949295.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:54:55.738Z,1628949295.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,0069B,186,80,80,9B,FF
2021-08-14T13:54:55.738Z,1628949295.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:54:55.738Z,1628949295.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:54:55.745Z,1628949295.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:54:56.151Z,1628949296.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:54:56.554Z,1628949296.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,006B0,18A,80,80,99,FF
2021-08-14T13:54:56.554Z,1628949296.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:54:57.005Z,1628949297.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135457.43*58

2021-08-14T13:54:57.088Z,1628949297.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 65.414764 deg, deltaT: 4.044093 s, approachRate: 0.311566 m/s, LOS rate: 6.573544 deg/s, posRepo size: 4
2021-08-14T13:54:57.090Z,1628949297.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.220001 m,
      bearing: 65.414764 deg,
      approachRate: 0.311566 m/s,
      LOS rate: 6.573544 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 2.291073 deg,
      new cmd heading: 3.834322 deg.

2021-08-14T13:54:59.418Z,1628949299.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:54:59.803Z,1628949299.803 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:54:59.803Z,1628949299.803 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:54:59.804Z,1628949299.804 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:54:59.805Z,1628949299.805 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:00.177Z,1628949300.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,006B0,18A,80,80,99,FF
2021-08-14T13:55:00.177Z,1628949300.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:00.178Z,1628949300.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:00.179Z,1628949300.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:00.600Z,1628949300.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:01.015Z,1628949301.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,006CC,186,80,80,8D,FF
2021-08-14T13:55:01.017Z,1628949301.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:01.022Z,1628949301.022 [Micromodem](INFO): Nmea in: $SNTTA,0.075949,0.307143,,,135501.86*57

2021-08-14T13:55:01.443Z,1628949301.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 13.493608 deg, deltaT: 4.556154 s, approachRate: 0.368732 m/s, LOS rate: -11.395830 deg/s, posRepo size: 4
2021-08-14T13:55:01.445Z,1628949301.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.900002 m,
      bearing: 13.493608 deg,
      approachRate: 0.368732 m/s,
      LOS rate: -11.395830 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 56.917402 deg,
      new cmd heading: 60.762346 deg.

2021-08-14T13:55:03.893Z,1628949303.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:04.235Z,1628949304.235 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:04.235Z,1628949304.235 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:04.235Z,1628949304.235 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:04.253Z,1628949304.253 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:04.622Z,1628949304.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,006CC,186,80,80,8D,FF
2021-08-14T13:55:04.622Z,1628949304.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:04.622Z,1628949304.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:04.624Z,1628949304.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:05.048Z,1628949305.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:05.438Z,1628949305.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,006F1,187,80,80,65,FF
2021-08-14T13:55:05.438Z,1628949305.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:05.885Z,1628949305.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135506.31*58

2021-08-14T13:55:05.948Z,1628949305.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 39.625383 deg, deltaT: 4.348460 s, approachRate: 0.510526 m/s, LOS rate: 6.009432 deg/s, posRepo size: 4
2021-08-14T13:55:05.950Z,1628949305.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.120003 m,
      bearing: 39.625383 deg,
      approachRate: 0.510526 m/s,
      LOS rate: 6.009432 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.691925 deg,
      new cmd heading: 359.064513 deg.

2021-08-14T13:55:08.295Z,1628949308.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:08.681Z,1628949308.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:08.681Z,1628949308.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:08.681Z,1628949308.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:08.682Z,1628949308.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:09.073Z,1628949309.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,006F1,187,80,80,65,FF
2021-08-14T13:55:09.073Z,1628949309.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:09.073Z,1628949309.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:09.075Z,1628949309.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:09.501Z,1628949309.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:09.889Z,1628949309.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,0070D,186,80,80,9F,FF
2021-08-14T13:55:09.890Z,1628949309.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:10.330Z,1628949310.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135510.76*5C

2021-08-14T13:55:10.348Z,1628949310.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.800003 m, bearing: 55.141948 deg, deltaT: 4.506386 s, approachRate: 0.372804 m/s, LOS rate: 3.443239 deg/s, posRepo size: 4
2021-08-14T13:55:10.350Z,1628949310.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.800003 m,
      bearing: 55.141948 deg,
      approachRate: 0.372804 m/s,
      LOS rate: 3.443239 deg/s,
      cmd update: 10.329717 deg/s,
      cmd heading: 58.640519 deg,
      new cmd heading: 63.169295 deg.

2021-08-14T13:55:12.758Z,1628949312.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:13.121Z,1628949313.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:13.121Z,1628949313.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:13.121Z,1628949313.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:13.122Z,1628949313.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:13.533Z,1628949313.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,0070D,186,80,80,9F,FF
2021-08-14T13:55:13.533Z,1628949313.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:13.533Z,1628949313.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:13.535Z,1628949313.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:13.936Z,1628949313.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:14.333Z,1628949314.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,00720,186,80,80,8D,FF
2021-08-14T13:55:14.333Z,1628949314.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:14.803Z,1628949314.803 [Micromodem](INFO): Nmea in: $SNTTA,0.074562,,,,135515.22*44

2021-08-14T13:55:14.855Z,1628949314.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 52.607114 deg, deltaT: 4.401385 s, approachRate: 0.259008 m/s, LOS rate: -0.575917 deg/s, posRepo size: 4
2021-08-14T13:55:14.858Z,1628949314.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.939995 m,
      bearing: 52.607114 deg,
      approachRate: 0.259008 m/s,
      LOS rate: -0.575917 deg/s,
      cmd update: -1.727752 deg/s,
      cmd heading: 104.177227 deg,
      new cmd heading: 109.084586 deg.

2021-08-14T13:55:17.217Z,1628949317.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:17.577Z,1628949317.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:17.577Z,1628949317.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:17.577Z,1628949317.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:17.578Z,1628949317.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:17.974Z,1628949317.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,00720,186,80,80,8D,FF
2021-08-14T13:55:17.974Z,1628949317.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:17.974Z,1628949317.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:17.976Z,1628949317.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:18.376Z,1628949318.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:18.796Z,1628949318.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,00732,189,80,80,7E,FF
2021-08-14T13:55:18.796Z,1628949318.796 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:19.217Z,1628949319.217 [Micromodem](INFO): Nmea in: $SNTTA,0.406457,,,,135519.66*4E

2021-08-14T13:55:19.273Z,1628949319.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.019997 m, bearing: 19.017022 deg, deltaT: 4.481340 s, approachRate: 0.241000 m/s, LOS rate: -7.495546 deg/s, posRepo size: 4
2021-08-14T13:55:19.275Z,1628949319.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.019997 m,
      bearing: 19.017022 deg,
      approachRate: 0.241000 m/s,
      LOS rate: -7.495546 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 96.449512 deg,
      new cmd heading: 95.721657 deg.

2021-08-14T13:55:21.651Z,1628949321.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:22.025Z,1628949322.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:22.025Z,1628949322.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:22.025Z,1628949322.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:22.026Z,1628949322.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:22.425Z,1628949322.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,00732,189,80,80,7E,FF
2021-08-14T13:55:22.425Z,1628949322.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:22.425Z,1628949322.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:22.427Z,1628949322.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:22.844Z,1628949322.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:23.229Z,1628949323.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00739,186,80,80,B0,FF
2021-08-14T13:55:23.229Z,1628949323.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:23.661Z,1628949323.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135524.11*5A

2021-08-14T13:55:23.696Z,1628949323.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 96.202852 deg, deltaT: 4.430957 s, approachRate: 0.094789 m/s, LOS rate: 17.419675 deg/s, posRepo size: 4
2021-08-14T13:55:23.697Z,1628949323.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.419675 deg/s. Setting heading cmd to target bearing of 96.202852deg and heading rate command to 0 deg/s.
2021-08-14T13:55:26.082Z,1628949326.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:26.453Z,1628949326.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:26.453Z,1628949326.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:26.453Z,1628949326.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:26.454Z,1628949326.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:26.857Z,1628949326.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00739,186,80,80,B0,FF
2021-08-14T13:55:26.857Z,1628949326.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:26.857Z,1628949326.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:26.859Z,1628949326.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:27.264Z,1628949327.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:27.673Z,1628949327.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,0073A,186,80,80,A9,FF
2021-08-14T13:55:27.674Z,1628949327.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:28.105Z,1628949328.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135528.54*57

2021-08-14T13:55:28.131Z,1628949328.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 100.525645 deg, deltaT: 4.415246 s, approachRate: 0.013589 m/s, LOS rate: 0.979060 deg/s, posRepo size: 4
2021-08-14T13:55:28.153Z,1628949328.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.500000 m,
      bearing: 100.525645 deg,
      approachRate: 0.013589 m/s,
      LOS rate: 0.979060 deg/s,
      cmd update: 2.937181 deg/s,
      cmd heading: 96.202852 deg,
      new cmd heading: 96.202852 deg.

2021-08-14T13:55:30.535Z,1628949330.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:30.908Z,1628949330.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:30.908Z,1628949330.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:30.909Z,1628949330.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:30.910Z,1628949330.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:31.313Z,1628949331.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,0073A,186,80,80,A9,FF
2021-08-14T13:55:31.313Z,1628949331.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:31.313Z,1628949331.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:31.315Z,1628949331.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:31.717Z,1628949331.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:32.109Z,1628949332.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00739,189,80,80,9F,FF
2021-08-14T13:55:32.110Z,1628949332.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:32.565Z,1628949332.565 [Micromodem](INFO): Nmea in: $SNTTA,0.054145,,,,135533.00*43

2021-08-14T13:55:32.612Z,1628949332.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 134.318853 deg, deltaT: 4.463741 s, approachRate: -0.013441 m/s, LOS rate: 7.570602 deg/s, posRepo size: 4
2021-08-14T13:55:32.614Z,1628949332.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.440002 m,
      bearing: 134.318853 deg,
      approachRate: -0.013441 m/s,
      LOS rate: 7.570602 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 109.300367 deg,
      new cmd heading: 110.528705 deg.

2021-08-14T13:55:35.071Z,1628949335.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:35.361Z,1628949335.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:35.361Z,1628949335.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:35.361Z,1628949335.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:35.362Z,1628949335.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:35.781Z,1628949335.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00739,189,80,80,9F,FF
2021-08-14T13:55:35.781Z,1628949335.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:35.782Z,1628949335.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:35.792Z,1628949335.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:36.165Z,1628949336.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:36.573Z,1628949336.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,0073C,188,80,80,80,FF
2021-08-14T13:55:36.573Z,1628949336.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:37.013Z,1628949337.013 [Micromodem](INFO): Nmea in: $SNTTA,0.051102,,,,135537.48*4D

2021-08-14T13:55:37.066Z,1628949337.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 116.522986 deg, deltaT: 4.420405 s, approachRate: 0.040720 m/s, LOS rate: -4.025845 deg/s, posRepo size: 4
2021-08-14T13:55:37.068Z,1628949337.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.620003 m,
      bearing: 116.522986 deg,
      approachRate: 0.040720 m/s,
      LOS rate: -4.025845 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 162.339576 deg,
      new cmd heading: 168.054288 deg.

2021-08-14T13:55:39.411Z,1628949339.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:39.821Z,1628949339.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:39.821Z,1628949339.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:39.821Z,1628949339.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:39.822Z,1628949339.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:40.201Z,1628949340.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,0073C,188,80,80,80,FF
2021-08-14T13:55:40.201Z,1628949340.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:40.201Z,1628949340.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:40.203Z,1628949340.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:40.601Z,1628949340.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:41.006Z,1628949341.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00731,189,80,80,9B,FF
2021-08-14T13:55:41.007Z,1628949341.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:41.449Z,1628949341.449 [Micromodem](INFO): Nmea in: $SNTTA,0.237197,,,,135541.89*4F

2021-08-14T13:55:41.504Z,1628949341.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.959999 m, bearing: 166.471026 deg, deltaT: 4.483249 s, approachRate: -0.147215 m/s, LOS rate: 11.141037 deg/s, posRepo size: 4
2021-08-14T13:55:41.506Z,1628949341.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.959999 m,
      bearing: 166.471026 deg,
      approachRate: -0.147215 m/s,
      LOS rate: 11.141037 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 108.529474 deg,
      new cmd heading: 103.420318 deg.

2021-08-14T13:55:43.880Z,1628949343.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:44.237Z,1628949344.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:44.237Z,1628949344.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:44.237Z,1628949344.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:44.238Z,1628949344.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:44.641Z,1628949344.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00731,189,80,80,9B,FF
2021-08-14T13:55:44.641Z,1628949344.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:44.641Z,1628949344.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:44.643Z,1628949344.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:45.041Z,1628949345.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:45.442Z,1628949345.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2A,000,0071C,189,80,80,CC,FF
2021-08-14T13:55:45.442Z,1628949345.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:45.881Z,1628949345.881 [Micromodem](INFO): Nmea in: $SNTTA,,0.052782,,,135546.33*4A

2021-08-14T13:55:45.924Z,1628949345.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.700005 m, bearing: 169.433634 deg, deltaT: 4.385474 s, approachRate: -0.287311 m/s, LOS rate: 0.675550 deg/s, posRepo size: 4
2021-08-14T13:55:45.926Z,1628949345.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.700005 m,
      bearing: 169.433634 deg,
      approachRate: -0.287311 m/s,
      LOS rate: 0.675550 deg/s,
      cmd update: 2.026651 deg/s,
      cmd heading: 161.203668 deg,
      new cmd heading: 166.728468 deg.

2021-08-14T13:55:48.327Z,1628949348.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:48.689Z,1628949348.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:48.689Z,1628949348.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:48.689Z,1628949348.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:48.690Z,1628949348.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:49.089Z,1628949349.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2A,000,0071C,189,80,80,CC,FF
2021-08-14T13:55:49.090Z,1628949349.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:49.090Z,1628949349.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:49.091Z,1628949349.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:49.536Z,1628949349.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:49.921Z,1628949349.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,006FC,189,80,80,7C,FF
2021-08-14T13:55:49.922Z,1628949349.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:50.354Z,1628949350.354 [Micromodem](INFO): Nmea in: $SNTTA,0.052917,,,,135550.78*40

2021-08-14T13:55:50.370Z,1628949350.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.780006 m, bearing: 170.827211 deg, deltaT: 4.532189 s, approachRate: -0.423636 m/s, LOS rate: 0.307484 deg/s, posRepo size: 4
2021-08-14T13:55:50.373Z,1628949350.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.780006 m,
      bearing: 170.827211 deg,
      approachRate: -0.423636 m/s,
      LOS rate: 0.307484 deg/s,
      cmd update: 0.922453 deg/s,
      cmd heading: 170.388830 deg,
      new cmd heading: 171.148380 deg.

2021-08-14T13:55:52.815Z,1628949352.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:53.153Z,1628949353.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:53.153Z,1628949353.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:53.153Z,1628949353.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:53.154Z,1628949353.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:53.565Z,1628949353.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,006FC,189,80,80,7C,FF
2021-08-14T13:55:53.565Z,1628949353.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:53.565Z,1628949353.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:53.567Z,1628949353.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:53.973Z,1628949353.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:54.365Z,1628949354.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,006D3,186,80,80,AA,FF
2021-08-14T13:55:54.366Z,1628949354.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:54.817Z,1628949354.817 [Micromodem](INFO): Nmea in: $SNTTA,0.058176,,,,135555.25*48

2021-08-14T13:55:54.871Z,1628949354.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.320007 m, bearing: 176.380701 deg, deltaT: 4.419339 s, approachRate: -0.556644 m/s, LOS rate: 1.256634 deg/s, posRepo size: 4
2021-08-14T13:55:54.878Z,1628949354.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.320007 m,
      bearing: 176.380701 deg,
      approachRate: -0.556644 m/s,
      LOS rate: 1.256634 deg/s,
      cmd update: 3.769901 deg/s,
      cmd heading: 174.461706 deg,
      new cmd heading: 174.886002 deg.

2021-08-14T13:55:56.923Z,1628949356.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:55:57.209Z,1628949357.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:55:57.209Z,1628949357.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:55:57.209Z,1628949357.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:55:57.210Z,1628949357.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:55:57.605Z,1628949357.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,006D3,186,80,80,AA,FF
2021-08-14T13:55:57.605Z,1628949357.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:55:57.605Z,1628949357.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:55:57.607Z,1628949357.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:55:58.021Z,1628949358.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:55:58.409Z,1628949358.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,006A9,183,80,80,78,FF
2021-08-14T13:55:58.410Z,1628949358.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:55:58.858Z,1628949358.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135559.29*5B

2021-08-14T13:55:58.958Z,1628949358.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 168.985355 deg, deltaT: 4.011745 s, approachRate: -0.628157 m/s, LOS rate: -1.843424 deg/s, posRepo size: 4
2021-08-14T13:55:58.966Z,1628949358.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.800003 m,
      bearing: 168.985355 deg,
      approachRate: -0.628157 m/s,
      LOS rate: -1.843424 deg/s,
      cmd update: -5.530272 deg/s,
      cmd heading: 189.601068 deg,
      new cmd heading: 191.604141 deg.

2021-08-14T13:56:00.982Z,1628949360.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:01.265Z,1628949361.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:01.265Z,1628949361.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:01.265Z,1628949361.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:01.265Z,1628949361.265 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:01.664Z,1628949361.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,006A9,183,80,80,78,FF
2021-08-14T13:56:01.664Z,1628949361.664 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:01.665Z,1628949361.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:01.666Z,1628949361.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:02.068Z,1628949362.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:02.458Z,1628949362.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,00681,187,80,80,88,FF
2021-08-14T13:56:02.458Z,1628949362.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:02.873Z,1628949362.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135603.35*5A

2021-08-14T13:56:02.963Z,1628949362.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 157.913946 deg, deltaT: 4.080070 s, approachRate: -0.588225 m/s, LOS rate: -2.713534 deg/s, posRepo size: 4
2021-08-14T13:56:02.965Z,1628949362.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.400005 m,
      bearing: 157.913946 deg,
      approachRate: -0.588225 m/s,
      LOS rate: -2.713534 deg/s,
      cmd update: -8.140602 deg/s,
      cmd heading: 167.059503 deg,
      new cmd heading: 164.538368 deg.

2021-08-14T13:56:05.327Z,1628949365.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:05.685Z,1628949365.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:05.685Z,1628949365.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:05.685Z,1628949365.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:05.686Z,1628949365.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:06.081Z,1628949366.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,00681,187,80,80,88,FF
2021-08-14T13:56:06.081Z,1628949366.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:06.081Z,1628949366.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:06.083Z,1628949366.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:06.493Z,1628949366.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:06.910Z,1628949366.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,00659,186,80,80,87,FF
2021-08-14T13:56:06.911Z,1628949366.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:07.333Z,1628949367.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135607.77*58

2021-08-14T13:56:07.361Z,1628949367.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.000000 m, bearing: 162.404277 deg, deltaT: 4.523572 s, approachRate: -0.530555 m/s, LOS rate: 0.992651 deg/s, posRepo size: 4
2021-08-14T13:56:07.363Z,1628949367.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.000000 m,
      bearing: 162.404277 deg,
      approachRate: -0.530555 m/s,
      LOS rate: 0.992651 deg/s,
      cmd update: 2.977954 deg/s,
      cmd heading: 130.202235 deg,
      new cmd heading: 127.509105 deg.

2021-08-14T13:56:09.813Z,1628949369.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:10.137Z,1628949370.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:10.137Z,1628949370.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:10.137Z,1628949370.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:10.138Z,1628949370.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:10.541Z,1628949370.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,00659,186,80,80,87,FF
2021-08-14T13:56:10.541Z,1628949370.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:10.541Z,1628949370.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:10.543Z,1628949370.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:10.993Z,1628949370.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:11.341Z,1628949371.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00624,183,80,80,99,FF
2021-08-14T13:56:11.342Z,1628949371.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:11.345Z,1628949371.345 [Micromodem](INFO): Nmea in: EV,135612,COPROC,0.20.0.39330*79

2021-08-14T13:56:11.345Z,1628949371.345 [Micromodem](ERROR): Response from modem failed NMEA checksum: EV,135612,COPROC,0.20.0.39330*79
 expected 0
2021-08-14T13:56:11.805Z,1628949371.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.820004 m, bearing: 169.559323 deg, deltaT: 4.374818 s, approachRate: -0.726887 m/s, LOS rate: 1.635507 deg/s, posRepo size: 4
2021-08-14T13:56:11.807Z,1628949371.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.820004 m,
      bearing: 169.559323 deg,
      approachRate: -0.726887 m/s,
      LOS rate: 1.635507 deg/s,
      cmd update: 4.906522 deg/s,
      cmd heading: 143.110113 deg,
      new cmd heading: 144.419377 deg.

2021-08-14T13:56:14.274Z,1628949374.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:14.581Z,1628949374.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:14.581Z,1628949374.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:14.581Z,1628949374.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:14.582Z,1628949374.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:15.013Z,1628949375.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00624,183,80,80,99,FF
2021-08-14T13:56:15.013Z,1628949375.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:15.013Z,1628949375.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:15.015Z,1628949375.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:15.405Z,1628949375.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:15.813Z,1628949375.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,005F4,186,80,80,5C,FF
2021-08-14T13:56:15.814Z,1628949375.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:16.211Z,1628949376.211 [Micromodem](INFO): Nmea in: $SNTTA,0.077262,,,,135616.70*47

2021-08-14T13:56:16.247Z,1628949376.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 173.763100 deg, deltaT: 4.435748 s, approachRate: -0.649272 m/s, LOS rate: 0.947704 deg/s, posRepo size: 4
2021-08-14T13:56:16.250Z,1628949376.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 173.763100 deg,
      approachRate: -0.649272 m/s,
      LOS rate: 0.947704 deg/s,
      cmd update: 2.843112 deg/s,
      cmd heading: 165.070817 deg,
      new cmd heading: 167.067683 deg.

2021-08-14T13:56:18.645Z,1628949378.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:19.025Z,1628949379.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:19.025Z,1628949379.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:19.025Z,1628949379.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:19.026Z,1628949379.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:19.414Z,1628949379.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,005F4,186,80,80,5C,FF
2021-08-14T13:56:19.414Z,1628949379.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:19.414Z,1628949379.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:19.415Z,1628949379.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:19.848Z,1628949379.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:20.221Z,1628949380.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,005C2,186,80,80,96,FF
2021-08-14T13:56:20.222Z,1628949380.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:20.665Z,1628949380.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135621.10*5D

2021-08-14T13:56:20.703Z,1628949380.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 172.519063 deg, deltaT: 4.399101 s, approachRate: -0.681957 m/s, LOS rate: -0.282793 deg/s, posRepo size: 4
2021-08-14T13:56:20.706Z,1628949380.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 172.519063 deg,
      approachRate: -0.681957 m/s,
      LOS rate: -0.282793 deg/s,
      cmd update: -0.848380 deg/s,
      cmd heading: 177.578362 deg,
      new cmd heading: 178.896650 deg.

2021-08-14T13:56:22.817Z,1628949382.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:23.097Z,1628949383.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:23.097Z,1628949383.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:23.097Z,1628949383.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:23.098Z,1628949383.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:23.465Z,1628949383.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,005C2,186,80,80,96,FF
2021-08-14T13:56:23.465Z,1628949383.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:23.465Z,1628949383.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:23.467Z,1628949383.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:23.880Z,1628949383.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:24.273Z,1628949384.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00594,186,80,80,A0,FF
2021-08-14T13:56:24.274Z,1628949384.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:24.721Z,1628949384.721 [Micromodem](INFO): Nmea in: $SNTTA,0.040319,,,,135625.16*4E

2021-08-14T13:56:24.798Z,1628949384.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 166.456614 deg, deltaT: 4.071319 s, approachRate: -0.677913 m/s, LOS rate: -1.489063 deg/s, posRepo size: 4
2021-08-14T13:56:24.804Z,1628949384.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.179996 m,
      bearing: 166.456614 deg,
      approachRate: -0.677913 m/s,
      LOS rate: -1.489063 deg/s,
      cmd update: -4.467188 deg/s,
      cmd heading: 174.124268 deg,
      new cmd heading: 173.711093 deg.

2021-08-14T13:56:27.153Z,1628949387.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:27.557Z,1628949387.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:27.558Z,1628949387.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:27.558Z,1628949387.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:27.559Z,1628949387.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:27.919Z,1628949387.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00594,186,80,80,A0,FF
2021-08-14T13:56:27.919Z,1628949387.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:27.919Z,1628949387.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:27.922Z,1628949387.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:28.325Z,1628949388.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:28.726Z,1628949388.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,00563,186,80,80,A0,FF
2021-08-14T13:56:28.727Z,1628949388.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:29.137Z,1628949389.137 [Micromodem](INFO): Nmea in: $SNTTA,0.067692,,,,135629.61*41

2021-08-14T13:56:29.203Z,1628949389.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 162.801821 deg, deltaT: 4.504690 s, approachRate: -0.652652 m/s, LOS rate: -0.811331 deg/s, posRepo size: 4
2021-08-14T13:56:29.205Z,1628949389.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.240002 m,
      bearing: 162.801821 deg,
      approachRate: -0.652652 m/s,
      LOS rate: -0.811331 deg/s,
      cmd update: -2.433992 deg/s,
      cmd heading: 154.019274 deg,
      new cmd heading: 152.272273 deg.

2021-08-14T13:56:31.551Z,1628949391.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:31.945Z,1628949391.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:31.946Z,1628949391.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:31.946Z,1628949391.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:31.947Z,1628949391.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:32.341Z,1628949392.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,00563,186,80,80,A0,FF
2021-08-14T13:56:32.341Z,1628949392.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:32.341Z,1628949392.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:32.343Z,1628949392.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:32.799Z,1628949392.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:33.157Z,1628949393.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00534,184,80,80,91,FF
2021-08-14T13:56:33.157Z,1628949393.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:33.611Z,1628949393.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135634.03*5B

2021-08-14T13:56:33.636Z,1628949393.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 171.163639 deg, deltaT: 4.399713 s, approachRate: -0.640952 m/s, LOS rate: 1.900537 deg/s, posRepo size: 4
2021-08-14T13:56:33.638Z,1628949393.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.419998 m,
      bearing: 171.163639 deg,
      approachRate: -0.640952 m/s,
      LOS rate: 1.900537 deg/s,
      cmd update: 5.701612 deg/s,
      cmd heading: 143.300398 deg,
      new cmd heading: 142.278134 deg.

2021-08-14T13:56:36.088Z,1628949396.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:36.397Z,1628949396.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:36.397Z,1628949396.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:36.397Z,1628949396.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:36.398Z,1628949396.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:36.857Z,1628949396.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00534,184,80,80,91,FF
2021-08-14T13:56:36.857Z,1628949396.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:36.857Z,1628949396.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:36.861Z,1628949396.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:37.217Z,1628949397.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:37.602Z,1628949397.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00509,186,80,80,72,FF
2021-08-14T13:56:37.602Z,1628949397.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:38.066Z,1628949398.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 174.146096 deg, deltaT: 4.414980 s, approachRate: -0.584374 m/s, LOS rate: 0.675531 deg/s, posRepo size: 4
2021-08-14T13:56:38.066Z,1628949398.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.84 m.
2021-08-14T13:56:38.084Z,1628949398.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.840000 m,
      bearing: 174.146096 deg,
      approachRate: -0.584374 m/s,
      LOS rate: 0.675531 deg/s,
      cmd update: 2.026594 deg/s,
      cmd heading: 168.456058 deg,
      new cmd heading: 170.954031 deg.

2021-08-14T13:56:38.446Z,1628949398.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135638.55*54

2021-08-14T13:56:38.468Z,1628949398.468 [PowerOnly](INFO): Powering up loadControl
2021-08-14T13:56:38.538Z,1628949398.538 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:56:38.538Z,1628949398.538 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:56:38.539Z,1628949398.539 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:56:38.539Z,1628949398.539 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:56:38.539Z,1628949398.539 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:56:38.539Z,1628949398.539 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:56:38.956Z,1628949398.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:56:38.956Z,1628949398.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:56:38.956Z,1628949398.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:56:38.956Z,1628949398.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:56:40.507Z,1628949400.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:40.889Z,1628949400.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:40.890Z,1628949400.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:40.890Z,1628949400.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:40.892Z,1628949400.892 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:41.249Z,1628949401.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00509,186,80,80,72,FF
2021-08-14T13:56:41.249Z,1628949401.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:41.249Z,1628949401.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:41.251Z,1628949401.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:41.656Z,1628949401.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:42.041Z,1628949402.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,004D6,186,80,80,80,FF
2021-08-14T13:56:42.041Z,1628949402.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:42.101Z,1628949402.101 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:56:42.465Z,1628949402.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135642.94*54

2021-08-14T13:56:42.526Z,1628949402.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 173.229225 deg, deltaT: 4.467873 s, approachRate: -0.684890 m/s, LOS rate: -0.205214 deg/s, posRepo size: 4
2021-08-14T13:56:42.527Z,1628949402.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m.
2021-08-14T13:56:42.535Z,1628949402.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 173.229225 deg,
      approachRate: -0.684890 m/s,
      LOS rate: -0.205214 deg/s,
      cmd update: -0.615643 deg/s,
      cmd heading: 177.507623 deg,
      new cmd heading: 178.383209 deg.

2021-08-14T13:56:44.971Z,1628949404.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:45.281Z,1628949405.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:45.281Z,1628949405.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:45.281Z,1628949405.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:45.282Z,1628949405.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:45.848Z,1628949405.848 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,004D6,186,80,80,80,FF
2021-08-14T13:56:45.849Z,1628949405.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:45.849Z,1628949405.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:45.851Z,1628949405.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:46.133Z,1628949406.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:46.533Z,1628949406.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,004A6,186,80,80,73,FF
2021-08-14T13:56:46.534Z,1628949406.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:46.593Z,1628949406.593 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:56:47.084Z,1628949407.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 170.057025 deg, deltaT: 4.491801 s, approachRate: -0.641168 m/s, LOS rate: -0.706220 deg/s, posRepo size: 4
2021-08-14T13:56:47.085Z,1628949407.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.90 m.
2021-08-14T13:56:47.087Z,1628949407.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.900002 m,
      bearing: 170.057025 deg,
      approachRate: -0.641168 m/s,
      LOS rate: -0.706220 deg/s,
      cmd update: -2.118660 deg/s,
      cmd heading: 174.758603 deg,
      new cmd heading: 174.435473 deg.

2021-08-14T13:56:47.362Z,1628949407.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135647.54*5D

2021-08-14T13:56:49.136Z,1628949409.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:49.381Z,1628949409.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:49.381Z,1628949409.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:49.381Z,1628949409.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:49.382Z,1628949409.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:49.795Z,1628949409.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,004A6,186,80,80,73,FF
2021-08-14T13:56:49.795Z,1628949409.795 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:49.796Z,1628949409.796 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:49.798Z,1628949409.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:50.186Z,1628949410.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:50.569Z,1628949410.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,00487,186,80,80,6F,FF
2021-08-14T13:56:50.569Z,1628949410.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:50.590Z,1628949410.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:56:50.999Z,1628949410.999 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135651.49*56

2021-08-14T13:56:51.059Z,1628949411.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 167.486129 deg, deltaT: 3.997160 s, approachRate: -0.465331 m/s, LOS rate: -0.643181 deg/s, posRepo size: 4
2021-08-14T13:56:51.076Z,1628949411.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.04 m.
2021-08-14T13:56:51.078Z,1628949411.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 167.486129 deg,
      approachRate: -0.465331 m/s,
      LOS rate: -0.643181 deg/s,
      cmd update: -1.929543 deg/s,
      cmd heading: 166.225396 deg,
      new cmd heading: 165.224350 deg.

2021-08-14T13:56:53.103Z,1628949413.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:53.393Z,1628949413.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:53.393Z,1628949413.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:53.393Z,1628949413.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:53.394Z,1628949413.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:53.841Z,1628949413.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,00487,186,80,80,6F,FF
2021-08-14T13:56:53.841Z,1628949413.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:53.841Z,1628949413.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:53.843Z,1628949413.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:54.213Z,1628949414.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:54.605Z,1628949414.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00458,184,80,80,80,FF
2021-08-14T13:56:54.605Z,1628949414.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:54.650Z,1628949414.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:56:55.031Z,1628949415.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135655.53*59

2021-08-14T13:56:55.113Z,1628949415.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 173.365391 deg, deltaT: 4.059569 s, approachRate: -0.694655 m/s, LOS rate: 1.448248 deg/s, posRepo size: 4
2021-08-14T13:56:55.114Z,1628949415.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m.
2021-08-14T13:56:55.114Z,1628949415.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.22 m.
2021-08-14T13:56:55.114Z,1628949415.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T13:56:55.120Z,1628949415.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 173.365391 deg,
      approachRate: -0.694655 m/s,
      LOS rate: 1.448248 deg/s,
      cmd update: 4.344744 deg/s,
      cmd heading: 158.399665 deg,
      new cmd heading: 157.492414 deg.

2021-08-14T13:56:55.832Z,1628949415.832 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T13:56:55.835Z,1628949415.835 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T13:56:57.451Z,1628949417.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:56:57.853Z,1628949417.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:56:57.853Z,1628949417.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:56:57.853Z,1628949417.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:56:57.854Z,1628949417.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:56:58.237Z,1628949418.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00458,184,80,80,80,FF
2021-08-14T13:56:58.237Z,1628949418.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:56:58.238Z,1628949418.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:56:58.239Z,1628949418.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:56:58.649Z,1628949418.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:56:59.057Z,1628949419.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00433,186,80,80,72,FF
2021-08-14T13:56:59.058Z,1628949419.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:56:59.133Z,1628949419.133 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:56:59.493Z,1628949419.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135659.93*59

2021-08-14T13:56:59.515Z,1628949419.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 172.089594 deg, deltaT: 4.483210 s, approachRate: -0.495180 m/s, LOS rate: -0.284572 deg/s, posRepo size: 4
2021-08-14T13:56:59.518Z,1628949419.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 172.089594 deg,
      approachRate: -0.495180 m/s,
      LOS rate: -0.284572 deg/s,
      cmd update: -0.853717 deg/s,
      cmd heading: 177.878143 deg,
      new cmd heading: 179.570781 deg.

2021-08-14T13:57:01.085Z,1628949421.085 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T13:57:01.925Z,1628949421.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:02.289Z,1628949422.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:02.289Z,1628949422.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:02.289Z,1628949422.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:02.290Z,1628949422.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:02.691Z,1628949422.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00433,186,80,80,72,FF
2021-08-14T13:57:02.691Z,1628949422.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:02.691Z,1628949422.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:02.693Z,1628949422.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:03.101Z,1628949423.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:03.490Z,1628949423.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,003FE,184,80,80,58,FF
2021-08-14T13:57:03.490Z,1628949423.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:03.567Z,1628949423.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:03.945Z,1628949423.945 [Micromodem](INFO): Nmea in: $SNTTA,0.108836,,,,135704.38*4B

2021-08-14T13:57:03.988Z,1628949423.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 172.847117 deg, deltaT: 4.433703 s, approachRate: -0.717234 m/s, LOS rate: 0.170856 deg/s, posRepo size: 4
2021-08-14T13:57:03.990Z,1628949423.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.819998 m,
      bearing: 172.847117 deg,
      approachRate: -0.717234 m/s,
      LOS rate: 0.170856 deg/s,
      cmd update: 0.512567 deg/s,
      cmd heading: 174.093094 deg,
      new cmd heading: 173.741166 deg.

2021-08-14T13:57:06.348Z,1628949426.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:06.721Z,1628949426.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:06.721Z,1628949426.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:06.721Z,1628949426.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:06.722Z,1628949426.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:07.137Z,1628949427.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,003FE,184,80,80,58,FF
2021-08-14T13:57:07.137Z,1628949427.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:07.137Z,1628949427.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:07.139Z,1628949427.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:07.541Z,1628949427.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:07.945Z,1628949427.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,003D1,186,80,80,89,FF
2021-08-14T13:57:07.945Z,1628949427.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:08.009Z,1628949428.009 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:08.386Z,1628949428.386 [Micromodem](INFO): Nmea in: $SNTTA,0.030422,,,,135708.83*44

2021-08-14T13:57:08.408Z,1628949428.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 172.793445 deg, deltaT: 4.442205 s, approachRate: -0.607806 m/s, LOS rate: -0.012082 deg/s, posRepo size: 4
2021-08-14T13:57:08.410Z,1628949428.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.120001 m,
      bearing: 172.793445 deg,
      approachRate: -0.607806 m/s,
      LOS rate: -0.012082 deg/s,
      cmd update: -0.036247 deg/s,
      cmd heading: 176.368030 deg,
      new cmd heading: 176.578055 deg.

2021-08-14T13:57:10.841Z,1628949430.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:11.169Z,1628949431.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:11.169Z,1628949431.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:11.169Z,1628949431.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:11.170Z,1628949431.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:11.573Z,1628949431.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,003D1,186,80,80,89,FF
2021-08-14T13:57:11.573Z,1628949431.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:11.573Z,1628949431.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:11.575Z,1628949431.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:11.981Z,1628949431.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:12.385Z,1628949432.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,003A3,186,80,80,79,FF
2021-08-14T13:57:12.386Z,1628949432.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:12.406Z,1628949432.406 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:12.849Z,1628949432.849 [Micromodem](INFO): Nmea in: $SNTTA,0.042636,,,,135713.26*43

2021-08-14T13:57:12.964Z,1628949432.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 173.658898 deg, deltaT: 4.397134 s, approachRate: -0.627683 m/s, LOS rate: 0.196822 deg/s, posRepo size: 4
2021-08-14T13:57:12.966Z,1628949432.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 173.658898 deg,
      approachRate: -0.627683 m/s,
      LOS rate: 0.196822 deg/s,
      cmd update: 0.590466 deg/s,
      cmd heading: 176.208360 deg,
      new cmd heading: 176.188178 deg.

2021-08-14T13:57:14.956Z,1628949434.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:15.209Z,1628949435.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:15.209Z,1628949435.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:15.209Z,1628949435.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:15.210Z,1628949435.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:15.613Z,1628949435.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,003A3,186,80,80,79,FF
2021-08-14T13:57:15.613Z,1628949435.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:15.613Z,1628949435.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:15.615Z,1628949435.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:16.028Z,1628949436.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:16.425Z,1628949436.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,00377,186,80,80,80,FF
2021-08-14T13:57:16.426Z,1628949436.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:16.446Z,1628949436.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:16.873Z,1628949436.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135717.30*5B

2021-08-14T13:57:16.987Z,1628949436.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 172.424424 deg, deltaT: 4.039847 s, approachRate: -0.653489 m/s, LOS rate: -0.305575 deg/s, posRepo size: 4
2021-08-14T13:57:16.994Z,1628949436.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 172.424424 deg,
      approachRate: -0.653489 m/s,
      LOS rate: -0.305575 deg/s,
      cmd update: -0.916724 deg/s,
      cmd heading: 178.593749 deg,
      new cmd heading: 178.915288 deg.

2021-08-14T13:57:19.018Z,1628949439.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:19.321Z,1628949439.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:19.321Z,1628949439.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:19.321Z,1628949439.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:19.322Z,1628949439.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:19.725Z,1628949439.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,00377,186,80,80,80,FF
2021-08-14T13:57:19.725Z,1628949439.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:19.726Z,1628949439.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:19.727Z,1628949439.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:20.124Z,1628949440.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:20.529Z,1628949440.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,0035C,186,80,80,77,FF
2021-08-14T13:57:20.530Z,1628949440.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:20.550Z,1628949440.550 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:20.997Z,1628949440.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135721.41*58

2021-08-14T13:57:21.075Z,1628949441.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 169.778832 deg, deltaT: 4.104371 s, approachRate: -0.394701 m/s, LOS rate: -0.644579 deg/s, posRepo size: 4
2021-08-14T13:57:21.085Z,1628949441.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 169.778832 deg,
      approachRate: -0.394701 m/s,
      LOS rate: -0.644579 deg/s,
      cmd update: -1.933737 deg/s,
      cmd heading: 174.831146 deg,
      new cmd heading: 174.347038 deg.

2021-08-14T13:57:23.053Z,1628949443.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:23.353Z,1628949443.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:23.354Z,1628949443.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:23.354Z,1628949443.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:23.355Z,1628949443.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:23.758Z,1628949443.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,0035C,186,80,80,77,FF
2021-08-14T13:57:23.758Z,1628949443.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:23.758Z,1628949443.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:23.766Z,1628949443.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:24.174Z,1628949444.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:24.565Z,1628949444.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BC,000,00333,186,80,80,B2,FF
2021-08-14T13:57:24.565Z,1628949444.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:24.614Z,1628949444.614 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:25.033Z,1628949445.033 [Micromodem](INFO): Nmea in: $SNTTA,0.040221,,,,135725.45*43

2021-08-14T13:57:25.119Z,1628949445.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 168.756585 deg, deltaT: 4.063510 s, approachRate: -0.605388 m/s, LOS rate: -0.251567 deg/s, posRepo size: 4
2021-08-14T13:57:25.125Z,1628949445.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 168.756585 deg,
      approachRate: -0.605388 m/s,
      LOS rate: -0.251567 deg/s,
      cmd update: -0.754702 deg/s,
      cmd heading: 166.981176 deg,
      new cmd heading: 165.989944 deg.

2021-08-14T13:57:27.411Z,1628949447.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:27.841Z,1628949447.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:27.841Z,1628949447.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:27.841Z,1628949447.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:27.842Z,1628949447.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:28.206Z,1628949448.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BC,000,00333,186,80,80,B2,FF
2021-08-14T13:57:28.206Z,1628949448.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:28.206Z,1628949448.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:28.208Z,1628949448.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:28.630Z,1628949448.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:29.021Z,1628949449.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,0030B,185,80,80,97,FF
2021-08-14T13:57:29.021Z,1628949449.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:29.095Z,1628949449.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:29.449Z,1628949449.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135729.89*54

2021-08-14T13:57:29.484Z,1628949449.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 166.762743 deg, deltaT: 4.481390 s, approachRate: -0.535548 m/s, LOS rate: -0.444916 deg/s, posRepo size: 4
2021-08-14T13:57:29.486Z,1628949449.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 166.762743 deg,
      approachRate: -0.535548 m/s,
      LOS rate: -0.444916 deg/s,
      cmd update: -1.334748 deg/s,
      cmd heading: 163.596002 deg,
      new cmd heading: 163.299992 deg.

2021-08-14T13:57:31.893Z,1628949451.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:32.241Z,1628949452.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:32.241Z,1628949452.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:32.241Z,1628949452.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:32.242Z,1628949452.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:32.654Z,1628949452.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,0030B,185,80,80,97,FF
2021-08-14T13:57:32.654Z,1628949452.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:32.654Z,1628949452.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:32.656Z,1628949452.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:33.057Z,1628949453.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:33.453Z,1628949453.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,002D0,184,80,80,BF,FF
2021-08-14T13:57:33.454Z,1628949453.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:33.502Z,1628949453.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:33.901Z,1628949453.901 [Micromodem](INFO): Nmea in: $SNTTA,0.009149,,,,135734.34*45

2021-08-14T13:57:33.927Z,1628949453.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 163.551202 deg, deltaT: 4.406732 s, approachRate: -0.803317 m/s, LOS rate: -0.728781 deg/s, posRepo size: 4
2021-08-14T13:57:33.930Z,1628949453.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 163.551202 deg,
      approachRate: -0.803317 m/s,
      LOS rate: -0.728781 deg/s,
      cmd update: -2.186342 deg/s,
      cmd heading: 157.719486 deg,
      new cmd heading: 157.141924 deg.

2021-08-14T13:57:36.315Z,1628949456.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:36.685Z,1628949456.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:36.685Z,1628949456.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:36.685Z,1628949456.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:36.686Z,1628949456.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:37.093Z,1628949457.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,002D0,184,80,80,BF,FF
2021-08-14T13:57:37.093Z,1628949457.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:37.093Z,1628949457.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:37.095Z,1628949457.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:37.500Z,1628949457.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:37.901Z,1628949457.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,002B9,187,80,80,7D,FF
2021-08-14T13:57:37.902Z,1628949457.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:38.007Z,1628949458.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:38.345Z,1628949458.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135738.78*5A

2021-08-14T13:57:38.364Z,1628949458.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 181.884181 deg, deltaT: 4.505187 s, approachRate: -0.306314 m/s, LOS rate: 4.069305 deg/s, posRepo size: 4
2021-08-14T13:57:38.366Z,1628949458.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 181.884181 deg,
      approachRate: -0.306314 m/s,
      LOS rate: 4.069305 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 147.870588 deg,
      new cmd heading: 147.073970 deg.

2021-08-14T13:57:40.792Z,1628949460.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:41.133Z,1628949461.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:41.134Z,1628949461.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:41.134Z,1628949461.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:41.135Z,1628949461.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:41.533Z,1628949461.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,002B9,187,80,80,7D,FF
2021-08-14T13:57:41.533Z,1628949461.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:41.533Z,1628949461.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:41.535Z,1628949461.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:41.945Z,1628949461.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:42.345Z,1628949462.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,002C5,186,80,80,C5,FF
2021-08-14T13:57:42.346Z,1628949462.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:42.367Z,1628949462.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:42.805Z,1628949462.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135743.22*59

2021-08-14T13:57:42.851Z,1628949462.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 165.738447 deg, deltaT: 4.360676 s, approachRate: 0.165112 m/s, LOS rate: -3.702576 deg/s, posRepo size: 4
2021-08-14T13:57:42.854Z,1628949462.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 165.738447 deg,
      approachRate: 0.165112 m/s,
      LOS rate: -3.702576 deg/s,
      cmd update: -11.107728 deg/s,
      cmd heading: 200.247121 deg,
      new cmd heading: 206.093581 deg.

2021-08-14T13:57:45.215Z,1628949465.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:45.577Z,1628949465.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:45.577Z,1628949465.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:45.577Z,1628949465.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:45.578Z,1628949465.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:45.983Z,1628949465.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,002C5,186,80,80,C5,FF
2021-08-14T13:57:45.983Z,1628949465.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:45.983Z,1628949465.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:45.985Z,1628949465.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:46.393Z,1628949466.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:46.813Z,1628949466.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,002F8,183,80,80,6F,FF
2021-08-14T13:57:46.813Z,1628949466.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:46.929Z,1628949466.929 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:47.225Z,1628949467.225 [Micromodem](INFO): Nmea in: $SNTTA,0.034908,,,,135747.67*44

2021-08-14T13:57:47.281Z,1628949467.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 165.308569 deg, deltaT: 4.561696 s, approachRate: 0.670803 m/s, LOS rate: -0.094237 deg/s, posRepo size: 4
2021-08-14T13:57:47.283Z,1628949467.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 165.308569 deg,
      approachRate: 0.670803 m/s,
      LOS rate: -0.094237 deg/s,
      cmd update: -0.282710 deg/s,
      cmd heading: 150.149733 deg,
      new cmd heading: 145.638452 deg.

2021-08-14T13:57:49.648Z,1628949469.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:50.025Z,1628949470.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:50.025Z,1628949470.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:50.026Z,1628949470.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:50.027Z,1628949470.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:50.425Z,1628949470.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,002F8,183,80,80,6F,FF
2021-08-14T13:57:50.425Z,1628949470.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:50.425Z,1628949470.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:50.427Z,1628949470.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:50.844Z,1628949470.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:51.241Z,1628949471.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,0031F,186,80,80,65,FF
2021-08-14T13:57:51.241Z,1628949471.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:51.302Z,1628949471.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:51.689Z,1628949471.689 [Micromodem](INFO): Nmea in: $SNTTA,0.008936,,,,135752.11*4COPROC,0.20.0.39330*7D

2021-08-14T13:57:51.690Z,1628949471.690 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,0.008936,,,,135752.11*4COPROC,0.20.0.39330*7D
 expected 43
2021-08-14T13:57:51.711Z,1628949471.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 157.278097 deg, deltaT: 4.372791 s, approachRate: 0.535127 m/s, LOS rate: -1.836464 deg/s, posRepo size: 4
2021-08-14T13:57:51.714Z,1628949471.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 157.278097 deg,
      approachRate: 0.535127 m/s,
      LOS rate: -1.836464 deg/s,
      cmd update: -5.509391 deg/s,
      cmd heading: 148.898810 deg,
      new cmd heading: 148.782225 deg.

2021-08-14T13:57:54.089Z,1628949474.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:54.469Z,1628949474.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:54.469Z,1628949474.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:54.469Z,1628949474.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:54.470Z,1628949474.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:54.869Z,1628949474.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,0031F,186,80,80,65,FF
2021-08-14T13:57:54.869Z,1628949474.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:54.869Z,1628949474.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:54.871Z,1628949474.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:55.277Z,1628949475.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:57:55.685Z,1628949475.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00350,186,80,80,42,FF
2021-08-14T13:57:55.685Z,1628949475.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:57:55.706Z,1628949475.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:57:56.121Z,1628949476.121 [Micromodem](INFO): Nmea in: $SNTTA,0.043527,,,,135756.56*47

2021-08-14T13:57:56.164Z,1628949476.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 179.977110 deg, deltaT: 4.403401 s, approachRate: 0.667666 m/s, LOS rate: 5.154882 deg/s, posRepo size: 4
2021-08-14T13:57:56.166Z,1628949476.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.380001 m,
      bearing: 179.977110 deg,
      approachRate: 0.667666 m/s,
      LOS rate: 5.154882 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 124.638730 deg,
      new cmd heading: 122.098443 deg.

2021-08-14T13:57:58.527Z,1628949478.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:57:58.932Z,1628949478.932 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:57:58.932Z,1628949478.932 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:57:58.933Z,1628949478.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:57:58.935Z,1628949478.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:57:59.309Z,1628949479.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00350,186,80,80,42,FF
2021-08-14T13:57:59.309Z,1628949479.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:57:59.310Z,1628949479.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:57:59.311Z,1628949479.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:57:59.725Z,1628949479.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:00.125Z,1628949480.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,0036A,185,80,80,5C,FF
2021-08-14T13:58:00.125Z,1628949480.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:00.207Z,1628949480.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:00.565Z,1628949480.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135801.00*50

2021-08-14T13:58:00.587Z,1628949480.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.940002 m, bearing: 128.957072 deg, deltaT: 4.501067 s, approachRate: 0.346585 m/s, LOS rate: -11.335098 deg/s, posRepo size: 4
2021-08-14T13:58:00.588Z,1628949480.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.94 m. Rolling out.
2021-08-14T13:58:00.589Z,1628949480.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T13:58:03.037Z,1628949483.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:03.353Z,1628949483.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:03.354Z,1628949483.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:03.354Z,1628949483.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:03.355Z,1628949483.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:03.784Z,1628949483.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,0036A,185,80,80,5C,FF
2021-08-14T13:58:03.785Z,1628949483.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:03.786Z,1628949483.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:03.805Z,1628949483.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:04.183Z,1628949484.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:04.581Z,1628949484.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,0039D,186,80,80,84,FF
2021-08-14T13:58:04.581Z,1628949484.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:04.662Z,1628949484.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:05.009Z,1628949485.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135805.49*59

2021-08-14T13:58:05.055Z,1628949485.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 149.567455 deg, deltaT: 4.455830 s, approachRate: 0.686740 m/s, LOS rate: 4.625487 deg/s, posRepo size: 4
2021-08-14T13:58:07.427Z,1628949487.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:07.833Z,1628949487.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:07.833Z,1628949487.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:07.833Z,1628949487.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:07.834Z,1628949487.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:08.201Z,1628949488.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,0039D,186,80,80,84,FF
2021-08-14T13:58:08.201Z,1628949488.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:08.201Z,1628949488.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:08.203Z,1628949488.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:08.653Z,1628949488.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:09.117Z,1628949489.117 [CTD_Seabird](ERROR): Failed to parse device response: .09
2021-08-14T13:58:09.438Z,1628949489.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135809.89*59

2021-08-14T13:58:10.259Z,1628949490.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:11.854Z,1628949491.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,08B57,186,80,80,57,FF
2021-08-14T13:58:11.854Z,1628949491.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:11.921Z,1628949491.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:12.283Z,1628949492.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2102.760010 m, bearing: 182.388071 deg, deltaT: 7.258143 s, approachRate: 287.230499 m/s, LOS rate: 4.521903 deg/s, posRepo size: 4
2021-08-14T13:58:12.284Z,1628949492.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2102.76 m. Resuming terminal guidance.
2021-08-14T13:58:12.284Z,1628949492.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T13:58:12.693Z,1628949492.693 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:58:12.694Z,1628949492.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:58:12.694Z,1628949492.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:58:12.694Z,1628949492.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:58:12.695Z,1628949492.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:58:12.695Z,1628949492.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:58:13.061Z,1628949493.061 [PowerOnly](INFO): Powering down loadControl
2021-08-14T13:58:13.144Z,1628949493.144 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:58:13.144Z,1628949493.144 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:58:13.144Z,1628949493.144 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:58:13.144Z,1628949493.144 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:58:14.683Z,1628949494.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:15.074Z,1628949495.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:15.074Z,1628949495.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:15.074Z,1628949495.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:15.075Z,1628949495.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:15.477Z,1628949495.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,08B57,186,80,80,57,FF
2021-08-14T13:58:15.478Z,1628949495.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:15.478Z,1628949495.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:15.480Z,1628949495.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:15.915Z,1628949495.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:16.285Z,1628949496.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00416,183,80,80,3B,FF
2021-08-14T13:58:16.285Z,1628949496.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:16.721Z,1628949496.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135817.16*50

2021-08-14T13:58:16.807Z,1628949496.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 182.188261 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T13:58:16.807Z,1628949496.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.26 m.
2021-08-14T13:58:16.812Z,1628949496.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 182.188261deg and heading rate command to 0 deg/s.
2021-08-14T13:58:17.138Z,1628949497.138 [PowerOnly](INFO): Powering up loadControl
2021-08-14T13:58:17.238Z,1628949497.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:58:17.239Z,1628949497.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:58:17.239Z,1628949497.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:58:17.239Z,1628949497.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:58:17.239Z,1628949497.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:58:17.239Z,1628949497.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:58:17.561Z,1628949497.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:58:17.561Z,1628949497.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:58:17.561Z,1628949497.561 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:58:17.562Z,1628949497.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:58:18.809Z,1628949498.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:19.110Z,1628949499.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:19.110Z,1628949499.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:19.110Z,1628949499.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:19.111Z,1628949499.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:19.513Z,1628949499.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00416,183,80,80,3B,FF
2021-08-14T13:58:19.513Z,1628949499.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:19.513Z,1628949499.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:19.515Z,1628949499.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:19.924Z,1628949499.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:20.325Z,1628949500.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,0043E,187,80,80,70,FF
2021-08-14T13:58:20.326Z,1628949500.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:20.346Z,1628949500.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:20.781Z,1628949500.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135821.20*50

2021-08-14T13:58:20.845Z,1628949500.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 217.406205 deg, deltaT: 4.041227 s, approachRate: 0.593879 m/s, LOS rate: 8.714667 deg/s, posRepo size: 2
2021-08-14T13:58:20.846Z,1628949500.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.66 m.
2021-08-14T13:58:20.855Z,1628949500.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.659998 m,
      bearing: 217.406205 deg,
      approachRate: 0.593879 m/s,
      LOS rate: 8.714667 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 182.188261 deg,
      new cmd heading: 182.188261 deg.

2021-08-14T13:58:23.246Z,1628949503.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:23.594Z,1628949503.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:23.594Z,1628949503.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:23.596Z,1628949503.596 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:23.598Z,1628949503.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:23.995Z,1628949503.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,0043E,187,80,80,70,FF
2021-08-14T13:58:23.995Z,1628949503.995 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:23.995Z,1628949503.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:23.998Z,1628949503.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:24.396Z,1628949504.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:24.837Z,1628949504.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00460,186,80,80,58,FF
2021-08-14T13:58:24.838Z,1628949504.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:24.953Z,1628949504.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:25.250Z,1628949505.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135825.68*58

2021-08-14T13:58:25.285Z,1628949505.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 218.738338 deg, deltaT: 4.606696 s, approachRate: 0.442833 m/s, LOS rate: 0.289173 deg/s, posRepo size: 3
2021-08-14T13:58:25.286Z,1628949505.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.70 m.
2021-08-14T13:58:25.288Z,1628949505.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.699997 m,
      bearing: 218.738338 deg,
      approachRate: 0.442833 m/s,
      LOS rate: 0.289173 deg/s,
      cmd update: 0.867519 deg/s,
      cmd heading: 237.420062 deg,
      new cmd heading: 241.496439 deg.

2021-08-14T13:58:27.663Z,1628949507.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:28.034Z,1628949508.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:28.035Z,1628949508.035 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:28.035Z,1628949508.035 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:28.037Z,1628949508.037 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:28.433Z,1628949508.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,00460,186,80,80,58,FF
2021-08-14T13:58:28.433Z,1628949508.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:28.433Z,1628949508.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:28.435Z,1628949508.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:28.867Z,1628949508.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:29.697Z,1628949509.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135830.12*51

2021-08-14T13:58:30.467Z,1628949510.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:32.069Z,1628949512.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,58,FF
2021-08-14T13:58:32.069Z,1628949512.069 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,58,FF
2021-08-14T13:58:32.069Z,1628949512.069 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:58:32.974Z,1628949512.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:33.285Z,1628949513.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:33.285Z,1628949513.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:33.285Z,1628949513.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:33.286Z,1628949513.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:33.681Z,1628949513.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,58,FF
2021-08-14T13:58:33.681Z,1628949513.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:33.681Z,1628949513.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:33.683Z,1628949513.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:34.098Z,1628949514.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:34.489Z,1628949514.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,004AF,188,80,80,49,FF
2021-08-14T13:58:34.489Z,1628949514.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:34.541Z,1628949514.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:34.957Z,1628949514.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135835.37*53

2021-08-14T13:58:35.018Z,1628949515.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 200.615305 deg, deltaT: 9.587986 s, approachRate: 0.494369 m/s, LOS rate: -1.890181 deg/s, posRepo size: 4
2021-08-14T13:58:35.019Z,1628949515.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.44 m.
2021-08-14T13:58:35.019Z,1628949515.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.44 m.
2021-08-14T13:58:35.019Z,1628949515.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T13:58:35.022Z,1628949515.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.439999 m,
      bearing: 200.615305 deg,
      approachRate: 0.494369 m/s,
      LOS rate: -1.890181 deg/s,
      cmd update: -5.670544 deg/s,
      cmd heading: 245.731810 deg,
      new cmd heading: 246.158220 deg.

2021-08-14T13:58:37.045Z,1628949517.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:37.320Z,1628949517.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:37.321Z,1628949517.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:37.321Z,1628949517.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:37.322Z,1628949517.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:37.717Z,1628949517.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,004AF,188,80,80,49,FF
2021-08-14T13:58:37.717Z,1628949517.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:37.718Z,1628949517.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:37.719Z,1628949517.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:38.133Z,1628949518.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:38.533Z,1628949518.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE6,000,004B7,188,80,80,2C,FF
2021-08-14T13:58:38.533Z,1628949518.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:38.581Z,1628949518.581 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:38.996Z,1628949518.996 [Micromodem](INFO): Nmea in: $SNTTA,0.113925,,,,135839.41*4D

2021-08-14T13:58:39.066Z,1628949519.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 266.803172 deg, deltaT: 4.039602 s, approachRate: 0.118824 m/s, LOS rate: 16.384750 deg/s, posRepo size: 4
2021-08-14T13:58:39.067Z,1628949519.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.384750 deg/s. Setting heading cmd to target bearing of 266.803172deg and heading rate command to 0 deg/s.
2021-08-14T13:58:41.089Z,1628949521.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:41.365Z,1628949521.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:41.365Z,1628949521.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:41.365Z,1628949521.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:41.366Z,1628949521.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:41.781Z,1628949521.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE6,000,004B7,188,80,80,2C,FF
2021-08-14T13:58:41.782Z,1628949521.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:41.783Z,1628949521.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:41.796Z,1628949521.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:42.168Z,1628949522.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:42.577Z,1628949522.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E80,000,004C7,186,80,80,5F,FF
2021-08-14T13:58:42.578Z,1628949522.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:42.598Z,1628949522.598 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:43.017Z,1628949523.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135843.48*5A

2021-08-14T13:58:43.087Z,1628949523.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 260.305777 deg, deltaT: 4.017366 s, approachRate: 0.238962 m/s, LOS rate: -1.617327 deg/s, posRepo size: 4
2021-08-14T13:58:43.091Z,1628949523.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.880001 m,
      bearing: 260.305777 deg,
      approachRate: 0.238962 m/s,
      LOS rate: -1.617327 deg/s,
      cmd update: -4.851981 deg/s,
      cmd heading: 266.803172 deg,
      new cmd heading: 266.803172 deg.

2021-08-14T13:58:45.409Z,1628949525.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:45.837Z,1628949525.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:45.837Z,1628949525.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:45.837Z,1628949525.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:45.838Z,1628949525.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:46.201Z,1628949526.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E80,000,004C7,186,80,80,5F,FF
2021-08-14T13:58:46.202Z,1628949526.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:46.202Z,1628949526.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:46.203Z,1628949526.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:46.617Z,1628949526.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:47.022Z,1628949527.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,004DA,189,80,80,32,FF
2021-08-14T13:58:47.022Z,1628949527.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:47.110Z,1628949527.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:47.454Z,1628949527.454 [Micromodem](INFO): Nmea in: $SNTTA,0.053940,,,,135847.89*46

2021-08-14T13:58:47.470Z,1628949527.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 275.075924 deg, deltaT: 4.512427 s, approachRate: 0.252635 m/s, LOS rate: 3.273216 deg/s, posRepo size: 4
2021-08-14T13:58:47.473Z,1628949527.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.019997 m,
      bearing: 275.075924 deg,
      approachRate: 0.252635 m/s,
      LOS rate: 3.273216 deg/s,
      cmd update: 9.819647 deg/s,
      cmd heading: 244.908738 deg,
      new cmd heading: 243.147051 deg.

2021-08-14T13:58:49.886Z,1628949529.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:50.245Z,1628949530.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:50.245Z,1628949530.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:50.245Z,1628949530.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:50.246Z,1628949530.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:50.661Z,1628949530.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,004DA,189,80,80,32,FF
2021-08-14T13:58:50.661Z,1628949530.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:50.661Z,1628949530.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:50.663Z,1628949530.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:51.064Z,1628949531.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:51.457Z,1628949531.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,004EA,188,80,80,7E,FF
2021-08-14T13:58:51.457Z,1628949531.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:51.509Z,1628949531.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:51.897Z,1628949531.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135852.35*50

2021-08-14T13:58:51.924Z,1628949531.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 277.001792 deg, deltaT: 4.398211 s, approachRate: 0.218271 m/s, LOS rate: 0.437875 deg/s, posRepo size: 4
2021-08-14T13:58:51.926Z,1628949531.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 277.001792 deg,
      approachRate: 0.218271 m/s,
      LOS rate: 0.437875 deg/s,
      cmd update: 1.313626 deg/s,
      cmd heading: 288.013924 deg,
      new cmd heading: 292.202995 deg.

2021-08-14T13:58:54.316Z,1628949534.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:54.689Z,1628949534.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:54.689Z,1628949534.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:54.689Z,1628949534.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:54.690Z,1628949534.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:55.101Z,1628949535.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,004EA,188,80,80,7E,FF
2021-08-14T13:58:55.101Z,1628949535.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:55.101Z,1628949535.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:55.103Z,1628949535.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:55.515Z,1628949535.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:58:55.901Z,1628949535.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,004FB,186,80,80,5A,FF
2021-08-14T13:58:55.902Z,1628949535.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:58:55.969Z,1628949535.969 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:58:56.355Z,1628949536.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135856.79*5C

2021-08-14T13:58:56.387Z,1628949536.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 243.647765 deg, deltaT: 4.460572 s, approachRate: 0.228669 m/s, LOS rate: -7.477522 deg/s, posRepo size: 4
2021-08-14T13:58:56.388Z,1628949536.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 39.00 m. Rolling out.
2021-08-14T13:58:56.388Z,1628949536.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T13:58:58.807Z,1628949538.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:58:59.149Z,1628949539.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:58:59.150Z,1628949539.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:58:59.150Z,1628949539.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:58:59.151Z,1628949539.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:58:59.551Z,1628949539.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,004FB,186,80,80,5A,FF
2021-08-14T13:58:59.551Z,1628949539.551 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:58:59.551Z,1628949539.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:58:59.553Z,1628949539.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:58:59.941Z,1628949539.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:00.784Z,1628949540.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135901.24*57

2021-08-14T13:59:01.553Z,1628949541.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,03828,189,80,80,78,FF
2021-08-14T13:59:01.554Z,1628949541.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:01.590Z,1628949541.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:02.006Z,1628949542.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 825.059998 m, bearing: 324.086684 deg, deltaT: 5.621145 s, approachRate: 139.839844 m/s, LOS rate: 14.310059 deg/s, posRepo size: 4
2021-08-14T13:59:02.007Z,1628949542.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 825.06 m. Resuming terminal guidance.
2021-08-14T13:59:02.007Z,1628949542.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T13:59:02.404Z,1628949542.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T13:59:02.404Z,1628949542.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:59:02.404Z,1628949542.404 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T13:59:02.405Z,1628949542.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T13:59:02.405Z,1628949542.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T13:59:02.405Z,1628949542.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T13:59:02.823Z,1628949542.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T13:59:02.823Z,1628949542.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:59:02.823Z,1628949542.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T13:59:02.823Z,1628949542.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T13:59:04.431Z,1628949544.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:04.832Z,1628949544.832 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:04.832Z,1628949544.832 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:04.833Z,1628949544.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:04.834Z,1628949544.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:05.197Z,1628949545.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,03828,189,80,80,78,FF
2021-08-14T13:59:05.198Z,1628949545.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:05.198Z,1628949545.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:05.200Z,1628949545.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:05.609Z,1628949545.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:06.425Z,1628949546.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135906.91*5E

2021-08-14T13:59:07.270Z,1628949547.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:08.841Z,1628949548.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,78,FF
2021-08-14T13:59:08.841Z,1628949548.841 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,78,FF
2021-08-14T13:59:08.841Z,1628949548.841 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T13:59:10.086Z,1628949550.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:10.453Z,1628949550.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:10.453Z,1628949550.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:10.453Z,1628949550.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:10.454Z,1628949550.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:10.861Z,1628949550.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,78,FF
2021-08-14T13:59:10.861Z,1628949550.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:10.861Z,1628949550.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:10.863Z,1628949550.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:11.292Z,1628949551.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:11.669Z,1628949551.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004E2,189,80,80,8A,FF
2021-08-14T13:59:11.669Z,1628949551.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:12.101Z,1628949552.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135912.55*53

2021-08-14T13:59:12.143Z,1628949552.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 26.998059 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T13:59:12.144Z,1628949552.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.50 m.
2021-08-14T13:59:12.145Z,1628949552.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 26.998059deg and heading rate command to 0 deg/s.
2021-08-14T13:59:12.549Z,1628949552.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T13:59:12.549Z,1628949552.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:59:12.549Z,1628949552.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T13:59:12.550Z,1628949552.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T13:59:12.550Z,1628949552.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T13:59:12.550Z,1628949552.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T13:59:12.986Z,1628949552.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T13:59:12.986Z,1628949552.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:59:12.986Z,1628949552.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T13:59:12.987Z,1628949552.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T13:59:14.539Z,1628949554.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:14.924Z,1628949554.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:14.924Z,1628949554.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:14.925Z,1628949554.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:14.926Z,1628949554.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:15.307Z,1628949555.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004E2,189,80,80,8A,FF
2021-08-14T13:59:15.307Z,1628949555.307 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:15.307Z,1628949555.307 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:15.309Z,1628949555.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:15.708Z,1628949555.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:16.109Z,1628949556.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6B,000,004C4,189,80,80,AB,FF
2021-08-14T13:59:16.109Z,1628949556.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:16.140Z,1628949556.140 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:16.545Z,1628949556.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135917.00*56

2021-08-14T13:59:16.582Z,1628949556.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 20.488351 deg, deltaT: 4.450951 s, approachRate: -0.404409 m/s, LOS rate: -1.462543 deg/s, posRepo size: 2
2021-08-14T13:59:16.582Z,1628949556.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.70 m.
2021-08-14T13:59:16.584Z,1628949556.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.699997 m,
      bearing: 20.488351 deg,
      approachRate: -0.404409 m/s,
      LOS rate: -1.462543 deg/s,
      cmd update: -4.387629 deg/s,
      cmd heading: 26.998059 deg,
      new cmd heading: 26.998059 deg.

2021-08-14T13:59:19.051Z,1628949559.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:19.346Z,1628949559.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:19.346Z,1628949559.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:19.346Z,1628949559.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:19.347Z,1628949559.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:19.817Z,1628949559.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6B,000,004C4,189,80,80,AB,FF
2021-08-14T13:59:19.817Z,1628949559.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:19.817Z,1628949559.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:19.819Z,1628949559.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:20.152Z,1628949560.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:20.549Z,1628949560.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004B0,189,80,80,8B,FF
2021-08-14T13:59:20.550Z,1628949560.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:20.571Z,1628949560.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:21.003Z,1628949561.003 [Micromodem](INFO): Nmea in: $SNTTA,0.022715,,,,135921.51*4A

2021-08-14T13:59:21.085Z,1628949561.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.500000 m, bearing: 30.073716 deg, deltaT: 4.430800 s, approachRate: -0.270831 m/s, LOS rate: 2.163348 deg/s, posRepo size: 3
2021-08-14T13:59:21.085Z,1628949561.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.50 m.
2021-08-14T13:59:21.087Z,1628949561.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.500000 m,
      bearing: 30.073716 deg,
      approachRate: -0.270831 m/s,
      LOS rate: 2.163348 deg/s,
      cmd update: 6.490045 deg/s,
      cmd heading: 7.556377 deg,
      new cmd heading: 5.288652 deg.

2021-08-14T13:59:23.400Z,1628949563.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:23.805Z,1628949563.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:23.806Z,1628949563.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:23.806Z,1628949563.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:23.807Z,1628949563.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:24.189Z,1628949564.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,004B0,189,80,80,8B,FF
2021-08-14T13:59:24.189Z,1628949564.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:24.189Z,1628949564.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:24.191Z,1628949564.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:24.601Z,1628949564.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:25.021Z,1628949565.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAA,000,00497,18A,80,80,A1,FF
2021-08-14T13:59:25.022Z,1628949565.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:25.122Z,1628949565.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:25.453Z,1628949565.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135925.88*57

2021-08-14T13:59:25.475Z,1628949565.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 31.936766 deg, deltaT: 4.550494 s, approachRate: -0.329635 m/s, LOS rate: 0.409417 deg/s, posRepo size: 4
2021-08-14T13:59:25.503Z,1628949565.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-14T13:59:25.503Z,1628949565.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.00 m.
2021-08-14T13:59:25.503Z,1628949565.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T13:59:25.506Z,1628949565.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 31.936766 deg,
      approachRate: -0.329635 m/s,
      LOS rate: 0.409417 deg/s,
      cmd update: 1.228251 deg/s,
      cmd heading: 37.037706 deg,
      new cmd heading: 39.406547 deg.

2021-08-14T13:59:27.866Z,1628949567.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:28.229Z,1628949568.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:28.229Z,1628949568.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:28.229Z,1628949568.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:28.230Z,1628949568.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:28.636Z,1628949568.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BAA,000,00497,18A,80,80,A1,FF
2021-08-14T13:59:28.637Z,1628949568.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:28.639Z,1628949568.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:28.654Z,1628949568.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:29.040Z,1628949569.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:29.455Z,1628949569.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,00478,189,80,80,7F,FF
2021-08-14T13:59:29.455Z,1628949569.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:29.483Z,1628949569.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:29.881Z,1628949569.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135930.35*55

2021-08-14T13:59:29.928Z,1628949569.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.139997 m, bearing: 29.768461 deg, deltaT: 4.361080 s, approachRate: -0.426500 m/s, LOS rate: -0.497194 deg/s, posRepo size: 4
2021-08-14T13:59:29.930Z,1628949569.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.139997 m,
      bearing: 29.768461 deg,
      approachRate: -0.426500 m/s,
      LOS rate: -0.497194 deg/s,
      cmd update: -1.491584 deg/s,
      cmd heading: 42.404155 deg,
      new cmd heading: 42.929370 deg.

2021-08-14T13:59:32.296Z,1628949572.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:32.684Z,1628949572.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:32.684Z,1628949572.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:32.685Z,1628949572.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:32.685Z,1628949572.685 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:33.089Z,1628949573.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,00478,189,80,80,7F,FF
2021-08-14T13:59:33.089Z,1628949573.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:33.089Z,1628949573.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:33.091Z,1628949573.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:33.510Z,1628949573.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:33.897Z,1628949573.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00459,189,80,80,92,FF
2021-08-14T13:59:33.898Z,1628949573.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:33.956Z,1628949573.956 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:34.321Z,1628949574.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135934.78*58

2021-08-14T13:59:34.356Z,1628949574.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 42.381013 deg, deltaT: 4.473463 s, approachRate: -0.415784 m/s, LOS rate: 2.819416 deg/s, posRepo size: 4
2021-08-14T13:59:34.358Z,1628949574.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 42.381013 deg,
      approachRate: -0.415784 m/s,
      LOS rate: 2.819416 deg/s,
      cmd update: 8.458248 deg/s,
      cmd heading: 35.732006 deg,
      new cmd heading: 35.130467 deg.

2021-08-14T13:59:36.781Z,1628949576.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:37.129Z,1628949577.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:37.129Z,1628949577.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:37.129Z,1628949577.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:37.130Z,1628949577.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:37.521Z,1628949577.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00459,189,80,80,92,FF
2021-08-14T13:59:37.522Z,1628949577.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:37.522Z,1628949577.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:37.523Z,1628949577.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:37.955Z,1628949577.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:38.329Z,1628949578.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,0042F,186,80,80,6F,FF
2021-08-14T13:59:38.329Z,1628949578.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:38.350Z,1628949578.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:38.793Z,1628949578.793 [Micromodem](INFO): Nmea in: $SNTTA,0.066892,,,,135939.21*44

2021-08-14T13:59:38.840Z,1628949578.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 50.541173 deg, deltaT: 4.393662 s, approachRate: -0.573554 m/s, LOS rate: 1.857257 deg/s, posRepo size: 4
2021-08-14T13:59:38.842Z,1628949578.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 50.541173 deg,
      approachRate: -0.573554 m/s,
      LOS rate: 1.857257 deg/s,
      cmd update: 5.571771 deg/s,
      cmd heading: 72.896953 deg,
      new cmd heading: 77.034669 deg.

2021-08-14T13:59:40.874Z,1628949580.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:41.173Z,1628949581.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:41.173Z,1628949581.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:41.174Z,1628949581.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:41.174Z,1628949581.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:41.570Z,1628949581.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,0042F,186,80,80,6F,FF
2021-08-14T13:59:41.570Z,1628949581.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:41.570Z,1628949581.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:41.572Z,1628949581.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:41.987Z,1628949581.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:42.369Z,1628949582.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,0040C,187,80,80,9F,FF
2021-08-14T13:59:42.370Z,1628949582.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:42.418Z,1628949582.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:42.833Z,1628949582.833 [Micromodem](INFO): Nmea in: $SNTTA,0.038495,,,,135943.26*4E

2021-08-14T13:59:42.954Z,1628949582.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 49.294500 deg, deltaT: 4.068483 s, approachRate: -0.516163 m/s, LOS rate: -0.306422 deg/s, posRepo size: 4
2021-08-14T13:59:42.960Z,1628949582.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.659998 m,
      bearing: 49.294500 deg,
      approachRate: -0.516163 m/s,
      LOS rate: -0.306422 deg/s,
      cmd update: -0.919267 deg/s,
      cmd heading: 95.543261 deg,
      new cmd heading: 98.565847 deg.

2021-08-14T13:59:45.273Z,1628949585.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:45.601Z,1628949585.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:45.601Z,1628949585.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:45.601Z,1628949585.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:45.602Z,1628949585.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:46.006Z,1628949586.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,0040C,187,80,80,9F,FF
2021-08-14T13:59:46.007Z,1628949586.007 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:46.007Z,1628949586.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:46.010Z,1628949586.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:46.413Z,1628949586.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:46.837Z,1628949586.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,003E5,185,80,80,6C,FF
2021-08-14T13:59:46.838Z,1628949586.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:46.966Z,1628949586.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:47.253Z,1628949587.253 [Micromodem](INFO): Nmea in: $SNTTA,0.035061,,,,135947.70*4B

2021-08-14T13:59:47.317Z,1628949587.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 46.825820 deg, deltaT: 4.547871 s, approachRate: -0.514526 m/s, LOS rate: -0.542821 deg/s, posRepo size: 4
2021-08-14T13:59:47.319Z,1628949587.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.825820 deg,
      approachRate: -0.514526 m/s,
      LOS rate: -0.542821 deg/s,
      cmd update: -1.628463 deg/s,
      cmd heading: 91.362680 deg,
      new cmd heading: 91.037593 deg.

2021-08-14T13:59:49.667Z,1628949589.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:50.054Z,1628949590.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:50.054Z,1628949590.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:50.054Z,1628949590.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:50.055Z,1628949590.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:50.445Z,1628949590.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,003E5,185,80,80,6C,FF
2021-08-14T13:59:50.445Z,1628949590.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:50.446Z,1628949590.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:50.447Z,1628949590.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:50.863Z,1628949590.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:51.261Z,1628949591.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,003B7,189,80,80,4C,FF
2021-08-14T13:59:51.262Z,1628949591.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:51.265Z,1628949591.265 [PowerOnly](INFO): Powering down loadControl
2021-08-14T13:59:51.330Z,1628949591.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:51.694Z,1628949591.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135952.14*52

2021-08-14T13:59:51.741Z,1628949591.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 40.798451 deg, deltaT: 4.363951 s, approachRate: -0.632454 m/s, LOS rate: -1.381172 deg/s, posRepo size: 4
2021-08-14T13:59:51.744Z,1628949591.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 40.798451 deg,
      approachRate: -0.632454 m/s,
      LOS rate: -1.381172 deg/s,
      cmd update: -4.143517 deg/s,
      cmd heading: 84.249436 deg,
      new cmd heading: 83.577281 deg.

2021-08-14T13:59:54.168Z,1628949594.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:54.501Z,1628949594.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:54.501Z,1628949594.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:54.501Z,1628949594.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:54.502Z,1628949594.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:54.913Z,1628949594.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,003B7,189,80,80,4C,FF
2021-08-14T13:59:54.914Z,1628949594.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:54.914Z,1628949594.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:54.930Z,1628949594.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:55.300Z,1628949595.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T13:59:55.707Z,1628949595.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003A0,189,80,80,4F,FF
2021-08-14T13:59:55.707Z,1628949595.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T13:59:55.778Z,1628949595.778 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T13:59:56.123Z,1628949596.123 [Micromodem](INFO): Nmea in: $SNTTA,0.029923,,,,135956.62*4A

2021-08-14T13:59:56.163Z,1628949596.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 25.120080 deg, deltaT: 4.448234 s, approachRate: -0.310236 m/s, LOS rate: -3.524628 deg/s, posRepo size: 4
2021-08-14T13:59:56.165Z,1628949596.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.179998 m,
      bearing: 25.120080 deg,
      approachRate: -0.310236 m/s,
      LOS rate: -3.524628 deg/s,
      cmd update: -10.573884 deg/s,
      cmd heading: 66.013696 deg,
      new cmd heading: 64.212779 deg.

2021-08-14T13:59:56.521Z,1628949596.521 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,1359579330*77
 expected 6A
2021-08-14T13:59:58.610Z,1628949598.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T13:59:58.975Z,1628949598.975 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T13:59:58.975Z,1628949598.975 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T13:59:58.975Z,1628949598.975 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T13:59:58.976Z,1628949598.976 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T13:59:59.349Z,1628949599.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003A0,189,80,80,4F,FF
2021-08-14T13:59:59.349Z,1628949599.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T13:59:59.349Z,1628949599.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T13:59:59.351Z,1628949599.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T13:59:59.750Z,1628949599.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:00.151Z,1628949600.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00371,18A,80,80,76,FF
2021-08-14T14:00:00.151Z,1628949600.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:00.172Z,1628949600.172 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:00.581Z,1628949600.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140001.04*5E

2021-08-14T14:00:00.647Z,1628949600.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 15.900675 deg, deltaT: 4.393460 s, approachRate: -0.641864 m/s, LOS rate: -2.098438 deg/s, posRepo size: 4
2021-08-14T14:00:00.654Z,1628949600.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.359997 m,
      bearing: 15.900675 deg,
      approachRate: -0.641864 m/s,
      LOS rate: -2.098438 deg/s,
      cmd update: -6.295315 deg/s,
      cmd heading: 19.060607 deg,
      new cmd heading: 14.017181 deg.

2021-08-14T14:00:03.082Z,1628949603.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:03.385Z,1628949603.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:03.385Z,1628949603.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:03.386Z,1628949603.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:03.386Z,1628949603.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:03.805Z,1628949603.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00371,18A,80,80,76,FF
2021-08-14T14:00:03.805Z,1628949603.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:03.805Z,1628949603.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:03.807Z,1628949603.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:04.189Z,1628949604.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:04.597Z,1628949604.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,0035C,189,80,80,BE,FF
2021-08-14T14:00:04.597Z,1628949604.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:04.635Z,1628949604.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:05.017Z,1628949605.017 [Micromodem](INFO): Nmea in: $SNTTA,0.033592,0.450270,,,140005.49*59

2021-08-14T14:00:05.091Z,1628949605.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 21.562374 deg, deltaT: 4.463237 s, approachRate: -0.282305 m/s, LOS rate: 1.268519 deg/s, posRepo size: 4
2021-08-14T14:00:05.097Z,1628949605.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 21.562374 deg,
      approachRate: -0.282305 m/s,
      LOS rate: 1.268519 deg/s,
      cmd update: 3.805556 deg/s,
      cmd heading: 350.987183 deg,
      new cmd heading: 348.074076 deg.

2021-08-14T14:00:07.435Z,1628949607.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:07.833Z,1628949607.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:07.833Z,1628949607.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:07.833Z,1628949607.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:07.834Z,1628949607.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:08.221Z,1628949608.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,0035C,189,80,80,BE,FF
2021-08-14T14:00:08.221Z,1628949608.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:08.222Z,1628949608.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:08.223Z,1628949608.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:08.646Z,1628949608.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:09.033Z,1628949609.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,276,000,00330,189,80,80,A8,FF
2021-08-14T14:00:09.033Z,1628949609.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:09.120Z,1628949609.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:09.477Z,1628949609.477 [Micromodem](INFO): Nmea in: $SNTTA,0.009784,,,,140009.91*46

2021-08-14T14:00:09.499Z,1628949609.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 17.758992 deg, deltaT: 4.485440 s, approachRate: -0.588572 m/s, LOS rate: -0.847940 deg/s, posRepo size: 4
2021-08-14T14:00:09.502Z,1628949609.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 17.758992 deg,
      approachRate: -0.588572 m/s,
      LOS rate: -0.847940 deg/s,
      cmd update: -2.543819 deg/s,
      cmd heading: 8.056971 deg,
      new cmd heading: 9.526113 deg.

2021-08-14T14:00:11.939Z,1628949611.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:12.269Z,1628949612.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:12.269Z,1628949612.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:12.269Z,1628949612.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:12.270Z,1628949612.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:12.673Z,1628949612.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
276,000,00330,189,80,80,A8,FF
2021-08-14T14:00:12.673Z,1628949612.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:12.673Z,1628949612.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:12.675Z,1628949612.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:13.085Z,1628949613.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:13.477Z,1628949613.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,0031B,185,80,80,6B,FF
2021-08-14T14:00:13.478Z,1628949613.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:13.525Z,1628949613.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:13.925Z,1628949613.925 [Micromodem](INFO): Nmea in: $SNTTA,0.155456,,,,140014.36*43

2021-08-14T14:00:13.951Z,1628949613.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 14.317168 deg, deltaT: 4.404858 s, approachRate: -0.286047 m/s, LOS rate: -0.781370 deg/s, posRepo size: 4
2021-08-14T14:00:13.973Z,1628949613.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 14.317168 deg,
      approachRate: -0.286047 m/s,
      LOS rate: -0.781370 deg/s,
      cmd update: -2.344110 deg/s,
      cmd heading: 356.841604 deg,
      new cmd heading: 355.750690 deg.

2021-08-14T14:00:16.323Z,1628949616.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:16.709Z,1628949616.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:16.709Z,1628949616.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:16.709Z,1628949616.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:16.710Z,1628949616.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:17.109Z,1628949617.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,0031B,185,80,80,6B,FF
2021-08-14T14:00:17.109Z,1628949617.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:17.109Z,1628949617.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:17.111Z,1628949617.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:17.525Z,1628949617.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:17.922Z,1628949617.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,113,000,002EB,186,80,80,BF,FF
2021-08-14T14:00:17.922Z,1628949617.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:17.984Z,1628949617.984 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:18.362Z,1628949618.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140018.80*5A

2021-08-14T14:00:18.378Z,1628949618.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 3.348937 deg, deltaT: 4.459012 s, approachRate: -0.645884 m/s, LOS rate: -2.459789 deg/s, posRepo size: 4
2021-08-14T14:00:18.380Z,1628949618.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 3.348937 deg,
      approachRate: -0.645884 m/s,
      LOS rate: -2.459789 deg/s,
      cmd update: -7.379368 deg/s,
      cmd heading: 346.408434 deg,
      new cmd heading: 345.459346 deg.

2021-08-14T14:00:20.829Z,1628949620.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:21.153Z,1628949621.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:21.153Z,1628949621.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:21.153Z,1628949621.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:21.154Z,1628949621.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:21.562Z,1628949621.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
113,000,002EB,186,80,80,BF,FF
2021-08-14T14:00:21.562Z,1628949621.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:21.562Z,1628949621.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:21.564Z,1628949621.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:21.965Z,1628949621.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:22.369Z,1628949622.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,002CC,186,80,80,97,FF
2021-08-14T14:00:22.370Z,1628949622.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:22.389Z,1628949622.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:22.829Z,1628949622.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140023.25*5D

2021-08-14T14:00:22.860Z,1628949622.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 351.218026 deg, deltaT: 4.405068 s, approachRate: -0.422241 m/s, LOS rate: -2.753857 deg/s, posRepo size: 4
2021-08-14T14:00:22.862Z,1628949622.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 351.218026 deg,
      approachRate: -0.422241 m/s,
      LOS rate: -2.753857 deg/s,
      cmd update: -8.261570 deg/s,
      cmd heading: 313.841881 deg,
      new cmd heading: 310.381666 deg.

2021-08-14T14:00:24.911Z,1628949624.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:25.193Z,1628949625.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:25.193Z,1628949625.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:25.193Z,1628949625.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:25.194Z,1628949625.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:25.601Z,1628949625.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,002CC,186,80,80,97,FF
2021-08-14T14:00:25.601Z,1628949625.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:25.602Z,1628949625.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:25.603Z,1628949625.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:26.013Z,1628949626.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:26.028Z,1628949626.028 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:00:26.405Z,1628949626.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,002BD,187,80,80,59,FF
2021-08-14T14:00:26.406Z,1628949626.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:26.458Z,1628949626.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:26.669Z,1628949626.669 [CTD_Seabird](ERROR): Failed to parse device response: 5.59,24.06996,4780.47
2021-08-14T14:00:26.860Z,1628949626.860 [Micromodem](INFO): Nmea in: $SNTTA,0.038276,,,,140027.29*43

2021-08-14T14:00:26.953Z,1628949626.953 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T14:00:26.953Z,1628949626.953 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:00:26.954Z,1628949626.954 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T14:00:26.954Z,1628949626.954 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:00:26.954Z,1628949626.954 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T14:00:26.954Z,1628949626.954 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 
2021-08-14T14:00:26.954Z,1628949626.954 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T14:00:26.955Z,1628949626.955 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T14:00:26.955Z,1628949626.955 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T14:00:26.961Z,1628949626.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 355.842993 deg, deltaT: 4.068818 s, approachRate: -0.221195 m/s, LOS rate: 1.136686 deg/s, posRepo size: 4
2021-08-14T14:00:26.963Z,1628949626.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 355.842993 deg,
      approachRate: -0.221195 m/s,
      LOS rate: 1.136686 deg/s,
      cmd update: 3.410057 deg/s,
      cmd heading: 280.260021 deg,
      new cmd heading: 276.079254 deg.

2021-08-14T14:00:27.261Z,1628949627.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T140027: (41.552319, -70.708603)
2021-08-14T14:00:27.261Z,1628949627.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T14:00:27.261Z,1628949627.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T14:00:27.262Z,1628949627.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:00:27.262Z,1628949627.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T14:00:27.262Z,1628949627.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:00:27.262Z,1628949627.262 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T14:00:27.262Z,1628949627.262 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T14:00:27.262Z,1628949627.262 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:00:29.280Z,1628949629.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:29.637Z,1628949629.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:29.637Z,1628949629.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:29.637Z,1628949629.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:29.638Z,1628949629.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:30.041Z,1628949630.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,002BD,187,80,80,59,FF
2021-08-14T14:00:30.041Z,1628949630.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:30.042Z,1628949630.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:30.043Z,1628949630.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:30.457Z,1628949630.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:30.861Z,1628949630.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,002C1,184,80,80,D0,FF
2021-08-14T14:00:30.862Z,1628949630.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:30.969Z,1628949630.969 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:31.265Z,1628949631.265 [Micromodem](INFO): Nmea in: $SNTTA,0.027875,0.370856,,,140031.73*5D

2021-08-14T14:00:31.320Z,1628949631.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 328.028468 deg, deltaT: 4.511565 s, approachRate: 0.053197 m/s, LOS rate: -6.165161 deg/s, posRepo size: 4
2021-08-14T14:00:31.322Z,1628949631.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 328.028468 deg,
      approachRate: 0.053197 m/s,
      LOS rate: -6.165161 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.636684 deg,
      new cmd heading: 296.863711 deg.

2021-08-14T14:00:33.737Z,1628949633.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:34.081Z,1628949634.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:34.081Z,1628949634.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:34.082Z,1628949634.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:34.083Z,1628949634.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:34.490Z,1628949634.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,002C1,184,80,80,D0,FF
2021-08-14T14:00:34.490Z,1628949634.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:34.490Z,1628949634.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:34.492Z,1628949634.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:34.933Z,1628949634.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:35.297Z,1628949635.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,002F0,186,80,80,75,FF
2021-08-14T14:00:35.297Z,1628949635.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:35.318Z,1628949635.318 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:35.725Z,1628949635.725 [Micromodem](INFO): Nmea in: $SNTTA,,0.107135,,,140036.18*48

2021-08-14T14:00:35.810Z,1628949635.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 304.661080 deg, deltaT: 4.348007 s, approachRate: 0.648573 m/s, LOS rate: -5.374276 deg/s, posRepo size: 4
2021-08-14T14:00:35.816Z,1628949635.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 304.661080 deg,
      approachRate: 0.648573 m/s,
      LOS rate: -5.374276 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 243.385994 deg,
      new cmd heading: 237.443090 deg.

2021-08-14T14:00:38.159Z,1628949638.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:38.521Z,1628949638.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:38.521Z,1628949638.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:38.521Z,1628949638.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:38.522Z,1628949638.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:38.968Z,1628949638.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,002F0,186,80,80,75,FF
2021-08-14T14:00:38.969Z,1628949638.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:38.969Z,1628949638.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:38.970Z,1628949638.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:39.343Z,1628949639.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:39.738Z,1628949639.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,0030D,187,80,80,31,FF
2021-08-14T14:00:39.739Z,1628949639.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:39.822Z,1628949639.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:40.159Z,1628949640.159 [Micromodem](INFO): Nmea in: $SNTTA,0.068258,,,,140040.66*40

2021-08-14T14:00:40.206Z,1628949640.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 291.241916 deg, deltaT: 4.503860 s, approachRate: 0.386335 m/s, LOS rate: -2.979480 deg/s, posRepo size: 4
2021-08-14T14:00:40.209Z,1628949640.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 291.241916 deg,
      approachRate: 0.386335 m/s,
      LOS rate: -2.979480 deg/s,
      cmd update: -8.938441 deg/s,
      cmd heading: 189.434341 deg,
      new cmd heading: 184.687501 deg.

2021-08-14T14:00:42.583Z,1628949642.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:42.983Z,1628949642.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:42.983Z,1628949642.983 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:42.983Z,1628949642.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:42.984Z,1628949642.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:43.381Z,1628949643.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,0030D,187,80,80,31,FF
2021-08-14T14:00:43.381Z,1628949643.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:43.381Z,1628949643.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:43.383Z,1628949643.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:43.837Z,1628949643.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:44.185Z,1628949644.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,0032D,186,80,80,74,FF
2021-08-14T14:00:44.185Z,1628949644.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:44.205Z,1628949644.205 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:44.621Z,1628949644.621 [Micromodem](INFO): Nmea in: $SNTTA,0.028992,,,,140045.08*44

2021-08-14T14:00:44.656Z,1628949644.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 269.041069 deg, deltaT: 4.383653 s, approachRate: 0.437991 m/s, LOS rate: -5.064463 deg/s, posRepo size: 4
2021-08-14T14:00:44.658Z,1628949644.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 269.041069 deg,
      approachRate: 0.437991 m/s,
      LOS rate: -5.064463 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 150.178753 deg,
      new cmd heading: 146.122515 deg.

2021-08-14T14:00:47.079Z,1628949647.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:47.414Z,1628949647.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:47.414Z,1628949647.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:47.415Z,1628949647.415 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:47.417Z,1628949647.417 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:47.853Z,1628949647.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,0032D,186,80,80,74,FF
2021-08-14T14:00:47.853Z,1628949647.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:47.854Z,1628949647.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:47.855Z,1628949647.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:48.241Z,1628949648.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:48.641Z,1628949648.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,0034D,186,80,80,55,FF
2021-08-14T14:00:48.641Z,1628949648.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:48.662Z,1628949648.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:49.077Z,1628949649.077 [Micromodem](INFO): Nmea in: $SNTTA,0.126298,0.463911,,,140049.55*58

2021-08-14T14:00:49.140Z,1628949649.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 244.989187 deg, deltaT: 4.456888 s, approachRate: 0.430793 m/s, LOS rate: -5.396564 deg/s, posRepo size: 4
2021-08-14T14:00:49.141Z,1628949649.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.20 m. Rolling out.
2021-08-14T14:00:49.141Z,1628949649.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T14:00:51.488Z,1628949651.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:51.869Z,1628949651.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:51.869Z,1628949651.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:51.869Z,1628949651.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:51.870Z,1628949651.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:52.273Z,1628949652.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,0034D,186,80,80,55,FF
2021-08-14T14:00:52.273Z,1628949652.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:52.273Z,1628949652.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:52.275Z,1628949652.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:52.681Z,1628949652.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:53.078Z,1628949653.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C3,000,00361,189,80,80,73,FF
2021-08-14T14:00:53.078Z,1628949653.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:53.161Z,1628949653.161 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:53.513Z,1628949653.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140053.96*52

2021-08-14T14:00:53.543Z,1628949653.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 196.025213 deg, deltaT: 4.498366 s, approachRate: 0.266764 m/s, LOS rate: -10.884835 deg/s, posRepo size: 4
2021-08-14T14:00:55.947Z,1628949655.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:00:56.313Z,1628949656.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:00:56.313Z,1628949656.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:00:56.313Z,1628949656.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:00:56.314Z,1628949656.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:00:56.717Z,1628949656.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C3,000,00361,189,80,80,73,FF
2021-08-14T14:00:56.717Z,1628949656.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:00:56.717Z,1628949656.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:00:56.719Z,1628949656.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:00:57.121Z,1628949657.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:00:57.529Z,1628949657.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,0037D,186,80,80,96,FF
2021-08-14T14:00:57.529Z,1628949657.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:00:57.549Z,1628949657.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:00:57.957Z,1628949657.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140058.41*53

2021-08-14T14:00:57.995Z,1628949657.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 202.539657 deg, deltaT: 4.388696 s, approachRate: 0.382801 m/s, LOS rate: 1.484369 deg/s, posRepo size: 4
2021-08-14T14:01:00.361Z,1628949660.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:00.776Z,1628949660.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:00.776Z,1628949660.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:00.777Z,1628949660.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:00.778Z,1628949660.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:01.157Z,1628949661.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,0037D,186,80,80,96,FF
2021-08-14T14:01:01.157Z,1628949661.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:01.157Z,1628949661.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:01.159Z,1628949661.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:01.573Z,1628949661.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:01.965Z,1628949661.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,0039E,189,80,80,45,FF
2021-08-14T14:01:01.965Z,1628949661.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:02.030Z,1628949662.030 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:02.409Z,1628949662.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140102.85*55

2021-08-14T14:01:02.431Z,1628949662.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 179.975485 deg, deltaT: 4.481042 s, approachRate: 0.441862 m/s, LOS rate: -5.035474 deg/s, posRepo size: 4
2021-08-14T14:01:04.919Z,1628949664.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:05.197Z,1628949665.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:05.197Z,1628949665.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:05.197Z,1628949665.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:05.198Z,1628949665.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:05.609Z,1628949665.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,0039E,189,80,80,45,FF
2021-08-14T14:01:05.609Z,1628949665.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:05.609Z,1628949665.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:05.611Z,1628949665.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:06.017Z,1628949666.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:06.418Z,1628949666.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,003A8,186,80,80,A1,FF
2021-08-14T14:01:06.419Z,1628949666.419 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:06.460Z,1628949666.460 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:06.869Z,1628949666.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140107.30*5E

2021-08-14T14:01:06.957Z,1628949666.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.659996 m, bearing: 177.699010 deg, deltaT: 4.429765 s, approachRate: 0.135447 m/s, LOS rate: -0.513904 deg/s, posRepo size: 4
2021-08-14T14:01:09.275Z,1628949669.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:09.654Z,1628949669.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:09.654Z,1628949669.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:09.655Z,1628949669.655 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:09.656Z,1628949669.656 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:10.045Z,1628949670.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,003A8,186,80,80,A1,FF
2021-08-14T14:01:10.046Z,1628949670.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:10.046Z,1628949670.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:10.048Z,1628949670.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:10.467Z,1628949670.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:10.853Z,1628949670.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,003B7,186,80,80,8D,FF
2021-08-14T14:01:10.854Z,1628949670.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:10.983Z,1628949670.983 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:11.315Z,1628949671.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 156.725548 deg, deltaT: 4.523024 s, approachRate: 0.198983 m/s, LOS rate: -4.637044 deg/s, posRepo size: 4
2021-08-14T14:01:13.802Z,1628949673.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:14.093Z,1628949674.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:14.093Z,1628949674.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:14.093Z,1628949674.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:14.094Z,1628949674.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:14.492Z,1628949674.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,003B7,186,80,80,8D,FF
2021-08-14T14:01:14.492Z,1628949674.492 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:14.493Z,1628949674.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:14.495Z,1628949674.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:14.934Z,1628949674.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:15.722Z,1628949675.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140116.19*55

2021-08-14T14:01:16.546Z,1628949676.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:17.730Z,1628949677.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D96,000,07C84,188,80,80,68,FF
2021-08-14T14:01:17.731Z,1628949677.731 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:17.809Z,1628949677.809 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:18.173Z,1628949678.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1875.060059 m, bearing: 182.270196 deg, deltaT: 6.826253 s, approachRate: 271.818237 m/s, LOS rate: 3.742118 deg/s, posRepo size: 4
2021-08-14T14:01:18.174Z,1628949678.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1875.06 m. Resuming terminal guidance.
2021-08-14T14:01:18.174Z,1628949678.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T14:01:18.581Z,1628949678.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:01:18.581Z,1628949678.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:01:18.582Z,1628949678.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:01:18.582Z,1628949678.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:01:18.582Z,1628949678.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:01:18.582Z,1628949678.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:01:19.052Z,1628949679.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:01:19.052Z,1628949679.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:01:19.052Z,1628949679.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:01:19.052Z,1628949679.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:01:20.571Z,1628949680.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:20.985Z,1628949680.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:20.986Z,1628949680.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:20.986Z,1628949680.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:20.987Z,1628949680.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:21.354Z,1628949681.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D96,000,07C84,188,80,80,68,FF
2021-08-14T14:01:21.354Z,1628949681.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:21.354Z,1628949681.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:21.356Z,1628949681.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:21.795Z,1628949681.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:22.177Z,1628949682.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003C6,189,80,80,93,FF
2021-08-14T14:01:22.177Z,1628949682.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:22.599Z,1628949682.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140123.05*5E

2021-08-14T14:01:22.643Z,1628949682.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 73.910993 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T14:01:22.644Z,1628949682.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.46 m.
2021-08-14T14:01:22.646Z,1628949682.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 73.910993deg and heading rate command to 0 deg/s.
2021-08-14T14:01:23.026Z,1628949683.026 [PowerOnly](INFO): Powering up loadControl
2021-08-14T14:01:23.094Z,1628949683.094 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:01:23.095Z,1628949683.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:01:23.095Z,1628949683.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:01:23.095Z,1628949683.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:01:23.095Z,1628949683.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:01:23.095Z,1628949683.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:01:23.454Z,1628949683.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:01:23.455Z,1628949683.455 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:01:23.455Z,1628949683.455 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:01:23.455Z,1628949683.455 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:01:25.096Z,1628949685.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:25.397Z,1628949685.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:25.397Z,1628949685.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:25.397Z,1628949685.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:25.398Z,1628949685.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:25.830Z,1628949685.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003C6,189,80,80,93,FF
2021-08-14T14:01:25.830Z,1628949685.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:25.830Z,1628949685.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:25.832Z,1628949685.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:26.216Z,1628949686.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:26.613Z,1628949686.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003B1,18A,80,80,67,FF
2021-08-14T14:01:26.613Z,1628949686.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:26.634Z,1628949686.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:27.037Z,1628949687.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140127.52*58

2021-08-14T14:01:27.107Z,1628949687.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 55.956707 deg, deltaT: 4.417032 s, approachRate: -0.285259 m/s, LOS rate: -4.064785 deg/s, posRepo size: 2
2021-08-14T14:01:27.112Z,1628949687.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.20 m.
2021-08-14T14:01:27.114Z,1628949687.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 55.956707 deg,
      approachRate: -0.285259 m/s,
      LOS rate: -4.064785 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 73.910993 deg,
      new cmd heading: 73.910993 deg.

2021-08-14T14:01:29.467Z,1628949689.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:29.841Z,1628949689.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:29.841Z,1628949689.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:29.841Z,1628949689.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:29.842Z,1628949689.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:30.249Z,1628949690.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003B1,18A,80,80,67,FF
2021-08-14T14:01:30.249Z,1628949690.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:30.249Z,1628949690.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:30.251Z,1628949690.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:30.662Z,1628949690.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:31.053Z,1628949691.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F3,000,003A0,189,80,80,8B,FF
2021-08-14T14:01:31.054Z,1628949691.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:31.149Z,1628949691.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:31.505Z,1628949691.505 [Micromodem](INFO): Nmea in: $SNTTA,0.014338,,,,140131.94*46

2021-08-14T14:01:31.530Z,1628949691.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 41.861133 deg, deltaT: 4.515245 s, approachRate: -0.225901 m/s, LOS rate: -3.121774 deg/s, posRepo size: 3
2021-08-14T14:01:31.560Z,1628949691.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.18 m.
2021-08-14T14:01:31.563Z,1628949691.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.179998 m,
      bearing: 41.861133 deg,
      approachRate: -0.225901 m/s,
      LOS rate: -3.121774 deg/s,
      cmd update: -9.365321 deg/s,
      cmd heading: 19.837720 deg,
      new cmd heading: 15.145444 deg.

2021-08-14T14:01:33.924Z,1628949693.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:34.285Z,1628949694.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:34.285Z,1628949694.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:34.285Z,1628949694.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:34.286Z,1628949694.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:34.689Z,1628949694.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F3,000,003A0,189,80,80,8B,FF
2021-08-14T14:01:34.689Z,1628949694.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:34.689Z,1628949694.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:34.691Z,1628949694.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:35.101Z,1628949695.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:35.526Z,1628949695.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0038F,189,80,80,88,FF
2021-08-14T14:01:35.526Z,1628949695.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:35.571Z,1628949695.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:35.941Z,1628949695.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140136.38*54

2021-08-14T14:01:35.971Z,1628949695.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 25.908113 deg, deltaT: 4.421740 s, approachRate: -0.230678 m/s, LOS rate: -3.607860 deg/s, posRepo size: 4
2021-08-14T14:01:35.992Z,1628949695.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.16 m.
2021-08-14T14:01:35.992Z,1628949695.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 17.16 m.
2021-08-14T14:01:35.992Z,1628949695.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T14:01:35.994Z,1628949695.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 25.908113 deg,
      approachRate: -0.230678 m/s,
      LOS rate: -3.607860 deg/s,
      cmd update: -10.823581 deg/s,
      cmd heading: 338.345487 deg,
      new cmd heading: 334.561710 deg.

2021-08-14T14:01:38.369Z,1628949698.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:38.781Z,1628949698.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:38.781Z,1628949698.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:38.782Z,1628949698.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:38.783Z,1628949698.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:38.812Z,1628949698.812 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:01:39.137Z,1628949699.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0038F,189,80,80,88,FF
2021-08-14T14:01:39.138Z,1628949699.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:39.138Z,1628949699.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:39.140Z,1628949699.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:39.551Z,1628949699.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:39.941Z,1628949699.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,43C,000,00370,18A,80,80,94,FF
2021-08-14T14:01:39.941Z,1628949699.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:40.012Z,1628949700.012 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:40.382Z,1628949700.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140140.83*55

2021-08-14T14:01:40.398Z,1628949700.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 22.800672 deg, deltaT: 4.441496 s, approachRate: -0.418778 m/s, LOS rate: -0.699638 deg/s, posRepo size: 4
2021-08-14T14:01:40.400Z,1628949700.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.299999 m,
      bearing: 22.800672 deg,
      approachRate: -0.418778 m/s,
      LOS rate: -0.699638 deg/s,
      cmd update: -2.098915 deg/s,
      cmd heading: 290.356757 deg,
      new cmd heading: 286.060164 deg.

2021-08-14T14:01:42.828Z,1628949702.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:43.173Z,1628949703.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:43.173Z,1628949703.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:43.173Z,1628949703.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:43.174Z,1628949703.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:43.577Z,1628949703.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
43C,000,00370,18A,80,80,94,FF
2021-08-14T14:01:43.577Z,1628949703.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:43.577Z,1628949703.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:43.579Z,1628949703.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:43.984Z,1628949703.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:44.393Z,1628949704.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,00352,188,80,80,A2,FF
2021-08-14T14:01:44.394Z,1628949704.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:44.414Z,1628949704.414 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:44.837Z,1628949704.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140145.27*5E

2021-08-14T14:01:44.847Z,1628949704.847 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:01:44.868Z,1628949704.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 27.102307 deg, deltaT: 4.401561 s, approachRate: -0.408945 m/s, LOS rate: 0.977297 deg/s, posRepo size: 4
2021-08-14T14:01:44.870Z,1628949704.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 27.102307 deg,
      approachRate: -0.408945 m/s,
      LOS rate: 0.977297 deg/s,
      cmd update: 2.931892 deg/s,
      cmd heading: 281.100729 deg,
      new cmd heading: 280.141601 deg.

2021-08-14T14:01:46.918Z,1628949706.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:47.221Z,1628949707.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:47.221Z,1628949707.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:47.221Z,1628949707.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:47.222Z,1628949707.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:47.617Z,1628949707.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,00352,188,80,80,A2,FF
2021-08-14T14:01:47.617Z,1628949707.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:47.617Z,1628949707.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:47.619Z,1628949707.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:48.043Z,1628949708.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:48.425Z,1628949708.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00331,186,80,80,AE,FF
2021-08-14T14:01:48.426Z,1628949708.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:48.478Z,1628949708.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:48.881Z,1628949708.881 [Micromodem](INFO): Nmea in: $SNTTA,0.035964,,,,140149.31*46

2021-08-14T14:01:48.982Z,1628949708.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 22.793192 deg, deltaT: 4.064284 s, approachRate: -0.487171 m/s, LOS rate: -1.060240 deg/s, posRepo size: 4
2021-08-14T14:01:48.988Z,1628949708.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 22.793192 deg,
      approachRate: -0.487171 m/s,
      LOS rate: -1.060240 deg/s,
      cmd update: -3.180719 deg/s,
      cmd heading: 293.004997 deg,
      new cmd heading: 294.502535 deg.

2021-08-14T14:01:51.301Z,1628949711.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:51.657Z,1628949711.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:51.657Z,1628949711.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:51.657Z,1628949711.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:51.658Z,1628949711.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:52.073Z,1628949712.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00331,186,80,80,AE,FF
2021-08-14T14:01:52.073Z,1628949712.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:52.074Z,1628949712.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:52.075Z,1628949712.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:52.469Z,1628949712.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:52.876Z,1628949712.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,00311,185,80,80,A6,FF
2021-08-14T14:01:52.878Z,1628949712.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:52.985Z,1628949712.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:53.309Z,1628949713.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140153.76*5D

2021-08-14T14:01:53.362Z,1628949713.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 15.666343 deg, deltaT: 4.507170 s, approachRate: -0.425989 m/s, LOS rate: -1.581225 deg/s, posRepo size: 4
2021-08-14T14:01:53.364Z,1628949713.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 15.666343 deg,
      approachRate: -0.425989 m/s,
      LOS rate: -1.581225 deg/s,
      cmd update: -4.743674 deg/s,
      cmd heading: 278.668799 deg,
      new cmd heading: 277.447797 deg.

2021-08-14T14:01:54.106Z,1628949714.106 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:01:55.720Z,1628949715.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:01:56.101Z,1628949716.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:01:56.101Z,1628949716.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:01:56.101Z,1628949716.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:01:56.102Z,1628949716.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:01:56.514Z,1628949716.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,00311,185,80,80,A6,FF
2021-08-14T14:01:56.514Z,1628949716.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:01:56.514Z,1628949716.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:01:56.516Z,1628949716.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:01:56.945Z,1628949716.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:01:57.321Z,1628949717.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,002EC,185,80,80,AC,FF
2021-08-14T14:01:57.322Z,1628949717.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:01:57.367Z,1628949717.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:01:57.770Z,1628949717.770 [Micromodem](INFO): Nmea in: $SNTTA,0.027224,,,,140158.21*4B

2021-08-14T14:01:57.828Z,1628949717.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 8.311914 deg, deltaT: 4.381713 s, approachRate: -0.506651 m/s, LOS rate: -1.678437 deg/s, posRepo size: 4
2021-08-14T14:01:57.830Z,1628949717.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 8.311914 deg,
      approachRate: -0.506651 m/s,
      LOS rate: -1.678437 deg/s,
      cmd update: -5.035311 deg/s,
      cmd heading: 257.865336 deg,
      new cmd heading: 255.756920 deg.

2021-08-14T14:01:59.792Z,1628949719.792 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:02:00.167Z,1628949720.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:00.553Z,1628949720.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:00.553Z,1628949720.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:00.553Z,1628949720.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:00.554Z,1628949720.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:00.981Z,1628949720.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,002EC,185,80,80,AC,FF
2021-08-14T14:02:00.981Z,1628949720.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:00.982Z,1628949720.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:00.983Z,1628949720.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:01.369Z,1628949721.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:01.781Z,1628949721.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,002CF,186,80,80,8A,FF
2021-08-14T14:02:01.782Z,1628949721.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:01.855Z,1628949721.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:02.193Z,1628949722.193 [Micromodem](INFO): Nmea in: $SNTTA,0.028231,,,,140202.67*4E

2021-08-14T14:02:02.224Z,1628949722.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 357.673374 deg, deltaT: 4.487768 s, approachRate: -0.387721 m/s, LOS rate: -2.370561 deg/s, posRepo size: 4
2021-08-14T14:02:02.226Z,1628949722.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 357.673374 deg,
      approachRate: -0.387721 m/s,
      LOS rate: -2.370561 deg/s,
      cmd update: -7.111683 deg/s,
      cmd heading: 235.287062 deg,
      new cmd heading: 233.394742 deg.

2021-08-14T14:02:03.851Z,1628949723.851 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T14:02:04.612Z,1628949724.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:04.985Z,1628949724.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:04.985Z,1628949724.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:04.985Z,1628949724.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:04.986Z,1628949724.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:05.397Z,1628949725.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,002CF,186,80,80,8A,FF
2021-08-14T14:02:05.397Z,1628949725.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:05.397Z,1628949725.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:05.399Z,1628949725.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:05.832Z,1628949725.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:06.201Z,1628949726.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,002C5,189,80,80,6F,FF
2021-08-14T14:02:06.201Z,1628949726.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:06.250Z,1628949726.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:06.642Z,1628949726.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140207.09*57

2021-08-14T14:02:06.658Z,1628949726.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 294.815553 deg, deltaT: 4.394916 s, approachRate: -0.136521 m/s, LOS rate: -14.302394 deg/s, posRepo size: 4
2021-08-14T14:02:06.659Z,1628949726.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.302394 deg/s. Setting heading cmd to target bearing of 294.815553deg and heading rate command to 0 deg/s.
2021-08-14T14:02:09.070Z,1628949729.070 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T14:02:09.110Z,1628949729.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:09.433Z,1628949729.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:09.433Z,1628949729.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:09.433Z,1628949729.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:09.434Z,1628949729.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:09.837Z,1628949729.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,002C5,189,80,80,6F,FF
2021-08-14T14:02:09.837Z,1628949729.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:09.837Z,1628949729.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:09.839Z,1628949729.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:10.255Z,1628949730.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:10.645Z,1628949730.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,002D3,187,80,80,9B,FF
2021-08-14T14:02:10.645Z,1628949730.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:10.701Z,1628949730.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:11.086Z,1628949731.086 [Micromodem](INFO): Nmea in: $SNTTA,0.035916,,,,140211.53*49

2021-08-14T14:02:11.152Z,1628949731.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 322.095602 deg, deltaT: 4.450803 s, approachRate: 0.188730 m/s, LOS rate: 6.129242 deg/s, posRepo size: 4
2021-08-14T14:02:11.154Z,1628949731.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 322.095602 deg,
      approachRate: 0.188730 m/s,
      LOS rate: 6.129242 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 294.815553 deg,
      new cmd heading: 294.815553 deg.

2021-08-14T14:02:13.504Z,1628949733.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:13.873Z,1628949733.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:13.873Z,1628949733.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:13.873Z,1628949733.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:13.874Z,1628949733.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:14.281Z,1628949734.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,002D3,187,80,80,9B,FF
2021-08-14T14:02:14.281Z,1628949734.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:14.281Z,1628949734.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:14.283Z,1628949734.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:14.688Z,1628949734.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:15.093Z,1628949735.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,002F1,186,80,80,46,FF
2021-08-14T14:02:15.094Z,1628949735.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:15.196Z,1628949735.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:15.526Z,1628949735.526 [Micromodem](INFO): Nmea in: $SNTTA,0.056517,,,,140215.98*42

2021-08-14T14:02:15.556Z,1628949735.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.680000 m, bearing: 273.265842 deg, deltaT: 4.495595 s, approachRate: 0.400392 m/s, LOS rate: -10.861690 deg/s, posRepo size: 4
2021-08-14T14:02:15.558Z,1628949735.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 273.265842 deg,
      approachRate: 0.400392 m/s,
      LOS rate: -10.861690 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 348.774491 deg,
      new cmd heading: 353.230031 deg.

2021-08-14T14:02:17.961Z,1628949737.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:18.317Z,1628949738.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:18.317Z,1628949738.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:18.317Z,1628949738.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:18.318Z,1628949738.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:18.738Z,1628949738.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,002F1,186,80,80,46,FF
2021-08-14T14:02:18.739Z,1628949738.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:18.739Z,1628949738.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:18.742Z,1628949738.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:19.141Z,1628949739.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:19.538Z,1628949739.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00336,184,80,80,6A,FF
2021-08-14T14:02:19.538Z,1628949739.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:19.558Z,1628949739.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:19.969Z,1628949739.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140220.43*5C

2021-08-14T14:02:20.013Z,1628949740.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 279.305833 deg, deltaT: 4.361971 s, approachRate: 0.949112 m/s, LOS rate: 1.384693 deg/s, posRepo size: 4
2021-08-14T14:02:20.015Z,1628949740.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 279.305833 deg,
      approachRate: 0.949112 m/s,
      LOS rate: 1.384693 deg/s,
      cmd update: 4.154079 deg/s,
      cmd heading: 296.332665 deg,
      new cmd heading: 290.841429 deg.

2021-08-14T14:02:22.379Z,1628949742.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:22.790Z,1628949742.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:22.791Z,1628949742.791 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:22.791Z,1628949742.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:22.791Z,1628949742.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:23.177Z,1628949743.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00336,184,80,80,6A,FF
2021-08-14T14:02:23.177Z,1628949743.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:23.177Z,1628949743.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:23.179Z,1628949743.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:23.616Z,1628949743.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:24.001Z,1628949744.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,00350,188,80,80,31,FF
2021-08-14T14:02:24.001Z,1628949744.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:24.063Z,1628949744.063 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:24.429Z,1628949744.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140224.87*50

2021-08-14T14:02:24.466Z,1628949744.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 266.783364 deg, deltaT: 4.510253 s, approachRate: 0.345879 m/s, LOS rate: -2.776445 deg/s, posRepo size: 4
2021-08-14T14:02:24.467Z,1628949744.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.380001 m,
      bearing: 266.783364 deg,
      approachRate: 0.345879 m/s,
      LOS rate: -2.776445 deg/s,
      cmd update: -8.329335 deg/s,
      cmd heading: 315.031987 deg,
      new cmd heading: 316.731267 deg.

2021-08-14T14:02:26.934Z,1628949746.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:27.241Z,1628949747.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:27.241Z,1628949747.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:27.241Z,1628949747.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:27.242Z,1628949747.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:27.645Z,1628949747.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,00350,188,80,80,31,FF
2021-08-14T14:02:27.645Z,1628949747.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:27.645Z,1628949747.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:27.647Z,1628949747.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:28.041Z,1628949748.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:28.453Z,1628949748.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00373,187,80,80,3C,FF
2021-08-14T14:02:28.453Z,1628949748.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:28.474Z,1628949748.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:28.925Z,1628949748.925 [Micromodem](INFO): Nmea in: $SNTTA,0.021687,,,,140229.34*41

2021-08-14T14:02:28.991Z,1628949748.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 317.072353 deg, deltaT: 4.405466 s, approachRate: 0.476680 m/s, LOS rate: 11.415135 deg/s, posRepo size: 4
2021-08-14T14:02:28.992Z,1628949748.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.48 m. Rolling out.
2021-08-14T14:02:28.993Z,1628949748.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T14:02:31.330Z,1628949751.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:31.694Z,1628949751.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:31.694Z,1628949751.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:31.694Z,1628949751.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:31.695Z,1628949751.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:32.081Z,1628949752.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00373,187,80,80,3C,FF
2021-08-14T14:02:32.081Z,1628949752.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:32.081Z,1628949752.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:32.083Z,1628949752.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:32.497Z,1628949752.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:33.334Z,1628949753.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140233.78*56

2021-08-14T14:02:34.123Z,1628949754.123 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:02:34.155Z,1628949754.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:35.726Z,1628949755.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,187,80,80,3C,FF
2021-08-14T14:02:35.726Z,1628949755.726 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,187,80,80,3C,FF
2021-08-14T14:02:35.727Z,1628949755.727 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:02:37.131Z,1628949757.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:37.342Z,1628949757.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:37.342Z,1628949757.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:37.343Z,1628949757.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:37.344Z,1628949757.344 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:37.805Z,1628949757.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,187,80,80,3C,FF
2021-08-14T14:02:37.805Z,1628949757.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:37.805Z,1628949757.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:37.807Z,1628949757.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:38.146Z,1628949758.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:38.983Z,1628949758.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140239.50*56

2021-08-14T14:02:39.807Z,1628949759.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:41.366Z,1628949761.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,187,80,80,3C,FF
2021-08-14T14:02:41.366Z,1628949761.366 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,187,80,80,3C,FF
2021-08-14T14:02:41.367Z,1628949761.367 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:02:42.615Z,1628949762.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:42.987Z,1628949762.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:42.987Z,1628949762.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:42.987Z,1628949762.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:42.988Z,1628949762.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:43.393Z,1628949763.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,187,80,80,3C,FF
2021-08-14T14:02:43.393Z,1628949763.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:43.393Z,1628949763.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:43.395Z,1628949763.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:43.865Z,1628949763.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:44.197Z,1628949764.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,0040B,186,80,80,59,FF
2021-08-14T14:02:44.197Z,1628949764.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:44.250Z,1628949764.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:44.646Z,1628949764.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140245.09*51

2021-08-14T14:02:44.685Z,1628949764.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 295.260936 deg, deltaT: 15.775945 s, approachRate: 0.578095 m/s, LOS rate: -1.382574 deg/s, posRepo size: 4
2021-08-14T14:02:47.126Z,1628949767.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:47.433Z,1628949767.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:47.433Z,1628949767.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:47.433Z,1628949767.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:47.434Z,1628949767.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:47.837Z,1628949767.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,0040B,186,80,80,59,FF
2021-08-14T14:02:47.837Z,1628949767.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:47.837Z,1628949767.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:47.839Z,1628949767.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:48.240Z,1628949768.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:48.649Z,1628949768.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,0042F,183,80,80,7B,FF
2021-08-14T14:02:48.649Z,1628949768.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:48.705Z,1628949768.705 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:49.077Z,1628949769.077 [Micromodem](INFO): Nmea in: $SNTTA,0.050861,,,,140249.53*46

2021-08-14T14:02:49.142Z,1628949769.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 272.200606 deg, deltaT: 4.455160 s, approachRate: 0.484831 m/s, LOS rate: -5.176095 deg/s, posRepo size: 4
2021-08-14T14:02:51.514Z,1628949771.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:51.877Z,1628949771.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:51.877Z,1628949771.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:51.877Z,1628949771.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:51.878Z,1628949771.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:52.291Z,1628949772.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,0042F,183,80,80,7B,FF
2021-08-14T14:02:52.291Z,1628949772.291 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:52.291Z,1628949772.291 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:52.294Z,1628949772.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:52.685Z,1628949772.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:53.097Z,1628949773.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42F,000,00458,189,80,80,69,FF
2021-08-14T14:02:53.097Z,1628949773.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:53.198Z,1628949773.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:53.534Z,1628949773.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140253.98*5E

2021-08-14T14:02:53.588Z,1628949773.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 218.433520 deg, deltaT: 4.493278 s, approachRate: 0.547484 m/s, LOS rate: -11.966116 deg/s, posRepo size: 4
2021-08-14T14:02:55.966Z,1628949775.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:02:56.323Z,1628949776.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:02:56.323Z,1628949776.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:02:56.323Z,1628949776.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:02:56.324Z,1628949776.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:02:56.736Z,1628949776.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42F,000,00458,189,80,80,69,FF
2021-08-14T14:02:56.736Z,1628949776.736 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:02:56.737Z,1628949776.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:02:56.739Z,1628949776.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:02:57.129Z,1628949777.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:02:57.529Z,1628949777.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49D,000,00481,188,80,80,6F,FF
2021-08-14T14:02:57.530Z,1628949777.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:02:57.533Z,1628949777.533 [PowerOnly](INFO): Powering down loadControl
2021-08-14T14:02:57.550Z,1628949777.550 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:02:57.961Z,1628949777.961 [Micromodem](INFO): Nmea in: $SNTTA,0.072264,,,,140258.43*48

2021-08-14T14:02:58.007Z,1628949778.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 213.085687 deg, deltaT: 4.352041 s, approachRate: 0.565252 m/s, LOS rate: -1.228810 deg/s, posRepo size: 4
2021-08-14T14:03:00.378Z,1628949780.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:00.777Z,1628949780.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:00.777Z,1628949780.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:00.778Z,1628949780.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:00.784Z,1628949780.784 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:01.177Z,1628949781.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49D,000,00481,188,80,80,6F,FF
2021-08-14T14:03:01.177Z,1628949781.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:01.177Z,1628949781.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:01.179Z,1628949781.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:01.578Z,1628949781.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:01.973Z,1628949781.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,004A8,186,80,80,5A,FF
2021-08-14T14:03:01.973Z,1628949781.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:02.038Z,1628949782.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:03:02.421Z,1628949782.421 [Micromodem](INFO): Nmea in: $SNTTA,0.045290,,,,140302.87*41

2021-08-14T14:03:02.443Z,1628949782.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 259.813375 deg, deltaT: 4.487274 s, approachRate: 0.521475 m/s, LOS rate: 10.413380 deg/s, posRepo size: 4
2021-08-14T14:03:04.943Z,1628949784.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:05.209Z,1628949785.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:05.209Z,1628949785.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:05.209Z,1628949785.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:05.210Z,1628949785.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:05.613Z,1628949785.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,004A8,186,80,80,5A,FF
2021-08-14T14:03:05.613Z,1628949785.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:05.613Z,1628949785.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:05.615Z,1628949785.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:06.025Z,1628949786.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:06.425Z,1628949786.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,004D5,186,80,80,41,FF
2021-08-14T14:03:06.425Z,1628949786.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:06.478Z,1628949786.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:03:06.876Z,1628949786.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140307.31*5D

2021-08-14T14:03:06.973Z,1628949786.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 293.683272 deg, deltaT: 4.440738 s, approachRate: 0.608006 m/s, LOS rate: 7.627088 deg/s, posRepo size: 4
2021-08-14T14:03:09.029Z,1628949789.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:09.285Z,1628949789.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:09.285Z,1628949789.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:09.285Z,1628949789.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:09.286Z,1628949789.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:09.693Z,1628949789.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,004D5,186,80,80,41,FF
2021-08-14T14:03:09.693Z,1628949789.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:09.694Z,1628949789.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:09.696Z,1628949789.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:10.101Z,1628949790.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:10.498Z,1628949790.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,004FC,187,80,80,7B,FF
2021-08-14T14:03:10.498Z,1628949790.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:10.518Z,1628949790.518 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:03:10.983Z,1628949790.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 296.144408 deg, deltaT: 4.039429 s, approachRate: 0.579291 m/s, LOS rate: 0.609278 deg/s, posRepo size: 4
2021-08-14T14:03:12.000Z,1628949793.000 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T14:03:12.000Z,1628949793.000 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T14:03:12.000Z,1628949793.000 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T14:03:13.062Z,1628949793.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:13.186Z,1628949793.186 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T14:03:13.325Z,1628949793.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:13.325Z,1628949793.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:13.325Z,1628949793.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:13.326Z,1628949793.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:13.408Z,1628949793.408 [RDI_Pathfinder](INFO): Powering down
2021-08-14T14:03:13.734Z,1628949793.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,004FC,187,80,80,7B,FF
2021-08-14T14:03:13.734Z,1628949793.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:13.734Z,1628949793.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:13.737Z,1628949793.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:14.137Z,1628949794.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:14.312Z,1628949794.312 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T14:03:14.312Z,1628949794.312 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T14:03:14.533Z,1628949794.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,00526,186,80,80,5A,FF
2021-08-14T14:03:14.533Z,1628949794.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:14.583Z,1628949794.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:03:14.978Z,1628949794.978 [Micromodem](INFO): Nmea in: $SNTTA,0.037302,,,,140315.43*40

2021-08-14T14:03:15.004Z,1628949795.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 295.618729 deg, deltaT: 4.064854 s, approachRate: 0.619948 m/s, LOS rate: -0.129323 deg/s, posRepo size: 4
2021-08-14T14:03:15.377Z,1628949795.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:03:15.377Z,1628949795.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:03:15.377Z,1628949795.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:03:15.378Z,1628949795.378 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:03:15.378Z,1628949795.378 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:03:15.378Z,1628949795.378 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:03:15.818Z,1628949795.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:03:15.818Z,1628949795.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:03:15.818Z,1628949795.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:03:15.818Z,1628949795.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:03:17.412Z,1628949797.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:17.784Z,1628949797.784 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:17.785Z,1628949797.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:17.785Z,1628949797.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:17.787Z,1628949797.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:18.169Z,1628949798.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,00526,186,80,80,5A,FF
2021-08-14T14:03:18.170Z,1628949798.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:18.170Z,1628949798.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:18.171Z,1628949798.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:18.577Z,1628949798.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:18.986Z,1628949798.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,00553,188,80,80,52,FF
2021-08-14T14:03:18.986Z,1628949798.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:19.417Z,1628949799.417 [Micromodem](INFO): Nmea in: $SNTTA,0.056127,,,,140319.86*47

2021-08-14T14:03:19.456Z,1628949799.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 298.940086 deg, deltaT: 4.464503 s, approachRate: 0.604771 m/s, LOS rate: 0.743948 deg/s, posRepo size: 4
2021-08-14T14:03:21.865Z,1628949801.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:22.217Z,1628949802.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:22.217Z,1628949802.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:22.217Z,1628949802.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:22.218Z,1628949802.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:22.618Z,1628949802.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,00553,188,80,80,52,FF
2021-08-14T14:03:22.618Z,1628949802.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:22.618Z,1628949802.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:22.620Z,1628949802.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:23.016Z,1628949803.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:23.433Z,1628949803.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00580,185,80,80,69,FF
2021-08-14T14:03:23.433Z,1628949803.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:23.877Z,1628949803.877 [Micromodem](INFO): Nmea in: $SNTTA,0.045273,,,,140324.31*45

2021-08-14T14:03:23.903Z,1628949803.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 293.079702 deg, deltaT: 4.405463 s, approachRate: 0.612875 m/s, LOS rate: -1.330254 deg/s, posRepo size: 4
2021-08-14T14:03:26.266Z,1628949806.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:26.657Z,1628949806.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:26.657Z,1628949806.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:26.657Z,1628949806.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:26.658Z,1628949806.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:27.064Z,1628949807.064 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00580,185,80,80,69,FF
2021-08-14T14:03:27.064Z,1628949807.064 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:27.064Z,1628949807.064 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:27.066Z,1628949807.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:27.487Z,1628949807.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:27.869Z,1628949807.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,005B0,187,80,80,64,FF
2021-08-14T14:03:27.870Z,1628949807.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:28.305Z,1628949808.305 [Micromodem](INFO): Nmea in: $SNTTA,0.059807,,,,140328.76*4E

2021-08-14T14:03:28.340Z,1628949808.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.859997 m, bearing: 296.417779 deg, deltaT: 4.471221 s, approachRate: 0.644120 m/s, LOS rate: 0.746570 deg/s, posRepo size: 4
2021-08-14T14:03:30.754Z,1628949810.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:31.105Z,1628949811.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:31.105Z,1628949811.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:31.105Z,1628949811.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:31.106Z,1628949811.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:31.505Z,1628949811.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,005B0,187,80,80,64,FF
2021-08-14T14:03:31.505Z,1628949811.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:31.505Z,1628949811.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:31.507Z,1628949811.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:31.908Z,1628949811.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:32.318Z,1628949812.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,005E6,189,80,80,62,FF
2021-08-14T14:03:32.318Z,1628949812.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:32.762Z,1628949812.762 [Micromodem](INFO): Nmea in: $SNTTA,,0.484284,,,140333.20*42

2021-08-14T14:03:32.861Z,1628949812.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.100006 m, bearing: 246.063056 deg, deltaT: 4.413530 s, approachRate: 0.734108 m/s, LOS rate: -11.409172 deg/s, posRepo size: 4
2021-08-14T14:03:34.841Z,1628949814.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:35.145Z,1628949815.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:35.145Z,1628949815.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:35.145Z,1628949815.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:35.146Z,1628949815.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:35.546Z,1628949815.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,005E6,189,80,80,62,FF
2021-08-14T14:03:35.546Z,1628949815.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:35.546Z,1628949815.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:35.548Z,1628949815.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:35.948Z,1628949815.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:36.361Z,1628949816.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,0060E,186,80,80,5F,FF
2021-08-14T14:03:36.361Z,1628949816.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:36.813Z,1628949816.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140337.24*5A

2021-08-14T14:03:36.879Z,1628949816.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 298.108333 deg, deltaT: 4.067355 s, approachRate: 0.590063 m/s, LOS rate: 12.795853 deg/s, posRepo size: 4
2021-08-14T14:03:39.215Z,1628949819.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:39.585Z,1628949819.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:39.585Z,1628949819.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:39.585Z,1628949819.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:39.586Z,1628949819.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:39.985Z,1628949819.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,0060E,186,80,80,5F,FF
2021-08-14T14:03:39.985Z,1628949819.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:39.986Z,1628949819.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:39.987Z,1628949819.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:40.410Z,1628949820.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:40.829Z,1628949820.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00641,186,80,80,5D,FF
2021-08-14T14:03:40.830Z,1628949820.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:41.234Z,1628949821.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140341.68*53

2021-08-14T14:03:41.250Z,1628949821.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.559998 m, bearing: 293.802472 deg, deltaT: 4.517596 s, approachRate: 0.677351 m/s, LOS rate: -0.953131 deg/s, posRepo size: 4
2021-08-14T14:03:43.647Z,1628949823.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:44.025Z,1628949824.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:44.025Z,1628949824.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:44.025Z,1628949824.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:44.026Z,1628949824.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:44.429Z,1628949824.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00641,186,80,80,5D,FF
2021-08-14T14:03:44.429Z,1628949824.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:44.429Z,1628949824.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:44.431Z,1628949824.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:44.857Z,1628949824.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:45.249Z,1628949825.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00671,18A,80,80,56,FF
2021-08-14T14:03:45.249Z,1628949825.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:45.694Z,1628949825.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.439999 m, bearing: 241.071773 deg, deltaT: 4.374926 s, approachRate: 0.658297 m/s, LOS rate: -12.052935 deg/s, posRepo size: 4
2021-08-14T14:03:48.117Z,1628949828.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:48.469Z,1628949828.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:48.469Z,1628949828.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:48.469Z,1628949828.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:48.470Z,1628949828.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:48.876Z,1628949828.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00671,18A,80,80,56,FF
2021-08-14T14:03:48.876Z,1628949828.876 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:48.877Z,1628949828.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:48.878Z,1628949828.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:49.281Z,1628949829.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:49.690Z,1628949829.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,006A1,186,80,80,6B,FF
2021-08-14T14:03:49.690Z,1628949829.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:50.125Z,1628949830.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140350.57*5F

2021-08-14T14:03:50.151Z,1628949830.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 296.883762 deg, deltaT: 4.412467 s, approachRate: 0.652696 m/s, LOS rate: 12.648704 deg/s, posRepo size: 4
2021-08-14T14:03:52.531Z,1628949832.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:52.925Z,1628949832.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:52.925Z,1628949832.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:52.926Z,1628949832.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:52.926Z,1628949832.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:53.317Z,1628949833.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,006A1,186,80,80,6B,FF
2021-08-14T14:03:53.317Z,1628949833.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:53.317Z,1628949833.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:53.319Z,1628949833.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:53.742Z,1628949833.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:54.133Z,1628949834.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,006CD,18A,80,80,5A,FF
2021-08-14T14:03:54.133Z,1628949834.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:54.572Z,1628949834.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140355.01*59

2021-08-14T14:03:54.646Z,1628949834.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.960007 m, bearing: 242.590561 deg, deltaT: 4.453442 s, approachRate: 0.592802 m/s, LOS rate: -12.191289 deg/s, posRepo size: 4
2021-08-14T14:03:57.028Z,1628949837.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:03:57.353Z,1628949837.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:03:57.354Z,1628949837.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:03:57.354Z,1628949837.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:03:57.355Z,1628949837.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:03:57.793Z,1628949837.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,006CD,18A,80,80,5A,FF
2021-08-14T14:03:57.793Z,1628949837.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:03:57.793Z,1628949837.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:03:57.795Z,1628949837.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:03:58.174Z,1628949838.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:03:58.606Z,1628949838.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00701,189,80,80,7C,FF
2021-08-14T14:03:58.607Z,1628949838.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:03:59.002Z,1628949839.002 [Micromodem](INFO): Nmea in: $SNTTA,0.070038,,,,140359.49*4B

2021-08-14T14:03:59.027Z,1628949839.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.079994 m, bearing: 240.856458 deg, deltaT: 4.550184 s, approachRate: 0.685684 m/s, LOS rate: -0.381106 deg/s, posRepo size: 4
2021-08-14T14:04:01.422Z,1628949841.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:01.833Z,1628949841.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:01.833Z,1628949841.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:01.833Z,1628949841.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:01.834Z,1628949841.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:02.205Z,1628949842.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,00701,189,80,80,7C,FF
2021-08-14T14:04:02.205Z,1628949842.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:02.205Z,1628949842.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:02.207Z,1628949842.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:02.677Z,1628949842.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:03.021Z,1628949843.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,00737,189,80,80,61,FF
2021-08-14T14:04:03.021Z,1628949843.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:03.449Z,1628949843.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140403.90*55

2021-08-14T14:04:03.471Z,1628949843.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.320007 m, bearing: 244.858539 deg, deltaT: 4.338238 s, approachRate: 0.746850 m/s, LOS rate: 0.922513 deg/s, posRepo size: 4
2021-08-14T14:04:05.912Z,1628949845.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:06.253Z,1628949846.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:06.253Z,1628949846.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:06.254Z,1628949846.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:06.255Z,1628949846.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:06.689Z,1628949846.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,00737,189,80,80,61,FF
2021-08-14T14:04:06.689Z,1628949846.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:06.689Z,1628949846.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:06.691Z,1628949846.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:07.081Z,1628949847.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:07.478Z,1628949847.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,0076D,189,80,80,8A,FF
2021-08-14T14:04:07.478Z,1628949847.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:07.894Z,1628949847.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140408.38*5C

2021-08-14T14:04:07.936Z,1628949847.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.560005 m, bearing: 243.822645 deg, deltaT: 4.492005 s, approachRate: 0.721281 m/s, LOS rate: -0.230608 deg/s, posRepo size: 4
2021-08-14T14:04:10.326Z,1628949850.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:10.722Z,1628949850.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:10.722Z,1628949850.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:10.722Z,1628949850.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:10.723Z,1628949850.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:11.117Z,1628949851.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,0076D,189,80,80,8A,FF
2021-08-14T14:04:11.117Z,1628949851.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:11.117Z,1628949851.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:11.119Z,1628949851.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:11.529Z,1628949851.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:11.913Z,1628949851.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,0079E,188,80,80,7F,FF
2021-08-14T14:04:11.913Z,1628949851.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:12.355Z,1628949852.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140412.81*55

2021-08-14T14:04:12.391Z,1628949852.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 244.835070 deg, deltaT: 4.430294 s, approachRate: 0.663613 m/s, LOS rate: 0.228523 deg/s, posRepo size: 4
2021-08-14T14:04:14.820Z,1628949854.820 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:04:14.836Z,1628949854.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:15.145Z,1628949855.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:15.145Z,1628949855.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:15.145Z,1628949855.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:15.146Z,1628949855.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:15.549Z,1628949855.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,0079E,188,80,80,7F,FF
2021-08-14T14:04:15.549Z,1628949855.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:15.549Z,1628949855.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:15.553Z,1628949855.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:15.957Z,1628949855.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:16.366Z,1628949856.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,007D0,189,80,80,81,FF
2021-08-14T14:04:16.367Z,1628949856.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:16.817Z,1628949856.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140417.25*5E

2021-08-14T14:04:16.881Z,1628949856.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 243.723717 deg, deltaT: 4.463013 s, approachRate: 0.672190 m/s, LOS rate: -0.249014 deg/s, posRepo size: 4
2021-08-14T14:04:19.215Z,1628949859.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:19.585Z,1628949859.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:19.585Z,1628949859.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:19.585Z,1628949859.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:19.586Z,1628949859.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:20.001Z,1628949860.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,007D0,189,80,80,81,FF
2021-08-14T14:04:20.001Z,1628949860.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:20.001Z,1628949860.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:20.003Z,1628949860.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:20.408Z,1628949860.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:20.833Z,1628949860.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,00804,186,80,80,73,FF
2021-08-14T14:04:20.834Z,1628949860.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:20.837Z,1628949860.837 [Micromodem](INFO): Nmea in: $SNTTA,0.238838,0.238088,,,140421.69*50

2021-08-14T14:04:21.255Z,1628949861.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 253.942936 deg, deltaT: 4.485697 s, approachRate: 0.695545 m/s, LOS rate: 2.278179 deg/s, posRepo size: 4
2021-08-14T14:04:23.651Z,1628949863.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:24.033Z,1628949864.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:24.033Z,1628949864.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:24.033Z,1628949864.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:24.034Z,1628949864.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:24.433Z,1628949864.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,00804,186,80,80,73,FF
2021-08-14T14:04:24.433Z,1628949864.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:24.434Z,1628949864.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:24.435Z,1628949864.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:24.856Z,1628949864.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:25.245Z,1628949865.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27B,000,00834,189,80,80,60,FF
2021-08-14T14:04:25.246Z,1628949865.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:25.249Z,1628949865.249 [Micromodem](INFO): Nmea in: $SNTTA,0.079307,0.223564,,,140426.13*57

2021-08-14T14:04:25.698Z,1628949865.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.500000 m, bearing: 242.076739 deg, deltaT: 4.381681 s, approachRate: 0.657281 m/s, LOS rate: -2.708138 deg/s, posRepo size: 4
2021-08-14T14:04:28.111Z,1628949868.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:28.477Z,1628949868.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:28.477Z,1628949868.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:28.477Z,1628949868.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:28.478Z,1628949868.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:28.883Z,1628949868.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27B,000,00834,189,80,80,60,FF
2021-08-14T14:04:28.885Z,1628949868.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:28.886Z,1628949868.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:28.903Z,1628949868.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:29.293Z,1628949869.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:29.693Z,1628949869.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,00865,188,80,80,83,FF
2021-08-14T14:04:29.694Z,1628949869.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:30.121Z,1628949870.121 [Micromodem](INFO): Nmea in: $SNTTA,0.067467,,,,140430.60*40

2021-08-14T14:04:30.166Z,1628949870.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.440002 m, bearing: 245.991066 deg, deltaT: 4.408908 s, approachRate: 0.666832 m/s, LOS rate: 0.887822 deg/s, posRepo size: 4
2021-08-14T14:04:32.557Z,1628949872.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:32.921Z,1628949872.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:32.921Z,1628949872.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:32.921Z,1628949872.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:32.922Z,1628949872.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:33.329Z,1628949873.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,00865,188,80,80,83,FF
2021-08-14T14:04:33.330Z,1628949873.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:33.330Z,1628949873.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:33.331Z,1628949873.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:33.742Z,1628949873.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:34.129Z,1628949874.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,00898,189,80,80,85,FF
2021-08-14T14:04:34.130Z,1628949874.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:34.582Z,1628949874.582 [Micromodem](INFO): Nmea in: $SNTTA,0.072251,,,,140435.02*46

2021-08-14T14:04:34.653Z,1628949874.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.500000 m, bearing: 242.252221 deg, deltaT: 4.446025 s, approachRate: 0.688255 m/s, LOS rate: -0.840941 deg/s, posRepo size: 4
2021-08-14T14:04:37.030Z,1628949877.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:37.371Z,1628949877.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:37.371Z,1628949877.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:37.371Z,1628949877.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:37.372Z,1628949877.372 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:37.797Z,1628949877.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,00898,189,80,80,85,FF
2021-08-14T14:04:37.797Z,1628949877.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:37.797Z,1628949877.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:37.799Z,1628949877.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:38.177Z,1628949878.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:38.593Z,1628949878.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,008C8,189,80,80,82,FF
2021-08-14T14:04:38.594Z,1628949878.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:39.009Z,1628949879.009 [Micromodem](INFO): Nmea in: $SNTTA,,0.338526,,,140439.49*4F

2021-08-14T14:04:39.066Z,1628949879.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.380005 m, bearing: 245.956369 deg, deltaT: 4.497572 s, approachRate: 0.640347 m/s, LOS rate: 0.823588 deg/s, posRepo size: 4
2021-08-14T14:04:41.431Z,1628949881.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:41.833Z,1628949881.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:41.833Z,1628949881.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:41.833Z,1628949881.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:41.834Z,1628949881.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:42.213Z,1628949882.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,008C8,189,80,80,82,FF
2021-08-14T14:04:42.213Z,1628949882.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:42.213Z,1628949882.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:42.215Z,1628949882.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:42.657Z,1628949882.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:43.036Z,1628949883.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,008FB,188,80,80,90,FF
2021-08-14T14:04:43.037Z,1628949883.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:43.469Z,1628949883.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140443.91*50

2021-08-14T14:04:43.492Z,1628949883.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.440002 m, bearing: 245.498528 deg, deltaT: 4.409389 s, approachRate: 0.693973 m/s, LOS rate: -0.103833 deg/s, posRepo size: 4
2021-08-14T14:04:45.882Z,1628949885.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:46.253Z,1628949886.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:46.253Z,1628949886.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:46.253Z,1628949886.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:46.254Z,1628949886.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:46.681Z,1628949886.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,008FB,188,80,80,90,FF
2021-08-14T14:04:46.681Z,1628949886.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:46.681Z,1628949886.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:46.683Z,1628949886.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:47.077Z,1628949887.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:47.488Z,1628949887.488 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,0092E,187,80,80,60,FF
2021-08-14T14:04:47.489Z,1628949887.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:47.961Z,1628949887.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140448.38*58

2021-08-14T14:04:47.996Z,1628949887.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 249.360262 deg, deltaT: 4.442204 s, approachRate: 0.688847 m/s, LOS rate: 0.869328 deg/s, posRepo size: 4
2021-08-14T14:04:50.329Z,1628949890.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:50.702Z,1628949890.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:50.702Z,1628949890.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:50.702Z,1628949890.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:50.703Z,1628949890.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:51.105Z,1628949891.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,0092E,187,80,80,60,FF
2021-08-14T14:04:51.105Z,1628949891.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:51.105Z,1628949891.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:51.107Z,1628949891.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:51.532Z,1628949891.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:52.338Z,1628949892.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140452.80*50

2021-08-14T14:04:52.843Z,1628949892.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:54.746Z,1628949894.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,60,FF
2021-08-14T14:04:54.746Z,1628949894.746 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,60,FF
2021-08-14T14:04:54.746Z,1628949894.746 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:04:55.579Z,1628949895.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:04:55.961Z,1628949895.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:04:55.962Z,1628949895.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:04:55.962Z,1628949895.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:04:55.963Z,1628949895.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:04:56.361Z,1628949896.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,60,FF
2021-08-14T14:04:56.361Z,1628949896.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:04:56.361Z,1628949896.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:04:56.363Z,1628949896.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:04:56.801Z,1628949896.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:04:57.177Z,1628949897.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,009A0,185,80,80,87,FF
2021-08-14T14:04:57.177Z,1628949897.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:04:57.603Z,1628949897.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.339996 m, bearing: 255.180976 deg, deltaT: 9.688588 s, approachRate: 0.705985 m/s, LOS rate: 0.600781 deg/s, posRepo size: 4
2021-08-14T14:05:00.019Z,1628949900.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:00.401Z,1628949900.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:00.401Z,1628949900.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:00.401Z,1628949900.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:00.402Z,1628949900.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:00.845Z,1628949900.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,009A0,185,80,80,87,FF
2021-08-14T14:05:00.845Z,1628949900.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:00.845Z,1628949900.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:00.847Z,1628949900.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:01.244Z,1628949901.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:01.653Z,1628949901.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,009D1,189,80,80,8D,FF
2021-08-14T14:05:01.654Z,1628949901.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:02.089Z,1628949902.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140502.54*5D

2021-08-14T14:05:02.139Z,1628949902.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.279999 m, bearing: 243.962746 deg, deltaT: 4.476534 s, approachRate: 0.656759 m/s, LOS rate: -2.506008 deg/s, posRepo size: 4
2021-08-14T14:05:04.491Z,1628949904.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:04.886Z,1628949904.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:04.886Z,1628949904.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:04.886Z,1628949904.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:04.887Z,1628949904.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:05.281Z,1628949905.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,009D1,189,80,80,8D,FF
2021-08-14T14:05:05.281Z,1628949905.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:05.281Z,1628949905.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:05.283Z,1628949905.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:05.696Z,1628949905.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:06.089Z,1628949906.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00A04,187,80,80,91,FF
2021-08-14T14:05:06.089Z,1628949906.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:06.529Z,1628949906.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140506.97*56

2021-08-14T14:05:06.570Z,1628949906.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.340004 m, bearing: 248.925944 deg, deltaT: 4.448876 s, approachRate: 0.687815 m/s, LOS rate: 1.115607 deg/s, posRepo size: 4
2021-08-14T14:05:08.993Z,1628949908.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:09.325Z,1628949909.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:09.325Z,1628949909.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:09.325Z,1628949909.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:09.326Z,1628949909.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:09.726Z,1628949909.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,00A04,187,80,80,91,FF
2021-08-14T14:05:09.726Z,1628949909.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:09.726Z,1628949909.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:09.745Z,1628949909.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:10.137Z,1628949910.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:10.541Z,1628949910.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00A35,186,80,80,9A,FF
2021-08-14T14:05:10.542Z,1628949910.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:10.973Z,1628949910.973 [Micromodem](INFO): Nmea in: $SNTTA,0.367445,,,,140511.44*47

2021-08-14T14:05:11.031Z,1628949911.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.280006 m, bearing: 248.998289 deg, deltaT: 4.527175 s, approachRate: 0.649412 m/s, LOS rate: 0.015980 deg/s, posRepo size: 4
2021-08-14T14:05:13.386Z,1628949913.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:13.789Z,1628949913.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:13.789Z,1628949913.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:13.789Z,1628949913.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:13.790Z,1628949913.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:14.169Z,1628949914.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00A35,186,80,80,9A,FF
2021-08-14T14:05:14.169Z,1628949914.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:14.169Z,1628949914.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:14.171Z,1628949914.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:14.604Z,1628949914.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:14.989Z,1628949914.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,00A64,186,80,80,77,FF
2021-08-14T14:05:14.990Z,1628949914.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:15.413Z,1628949915.413 [Micromodem](INFO): Nmea in: $SNTTA,0.080908,,,,140515.87*42

2021-08-14T14:05:15.452Z,1628949915.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.099998 m, bearing: 249.622814 deg, deltaT: 4.411281 s, approachRate: 0.639268 m/s, LOS rate: 0.141575 deg/s, posRepo size: 4
2021-08-14T14:05:17.873Z,1628949917.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:18.217Z,1628949918.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:18.217Z,1628949918.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:18.218Z,1628949918.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:18.218Z,1628949918.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:18.649Z,1628949918.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,00A64,186,80,80,77,FF
2021-08-14T14:05:18.649Z,1628949918.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:18.649Z,1628949918.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:18.651Z,1628949918.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:19.057Z,1628949919.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:19.465Z,1628949919.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,00A8F,189,80,80,6A,FF
2021-08-14T14:05:19.465Z,1628949919.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:19.901Z,1628949919.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140520.35*5A

2021-08-14T14:05:19.959Z,1628949919.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.680008 m, bearing: 244.502003 deg, deltaT: 4.427323 s, approachRate: 0.582747 m/s, LOS rate: -1.156638 deg/s, posRepo size: 4
2021-08-14T14:05:22.306Z,1628949922.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:22.686Z,1628949922.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:22.686Z,1628949922.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:22.687Z,1628949922.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:22.688Z,1628949922.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:23.097Z,1628949923.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,00A8F,189,80,80,6A,FF
2021-08-14T14:05:23.097Z,1628949923.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:23.097Z,1628949923.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:23.099Z,1628949923.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:23.497Z,1628949923.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:23.905Z,1628949923.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,244,000,00ABE,189,80,80,71,FF
2021-08-14T14:05:23.905Z,1628949923.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:24.337Z,1628949924.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140524.79*56

2021-08-14T14:05:24.367Z,1628949924.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.500000 m, bearing: 244.741579 deg, deltaT: 4.504413 s, approachRate: 0.626051 m/s, LOS rate: 0.053187 deg/s, posRepo size: 4
2021-08-14T14:05:26.829Z,1628949926.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:27.133Z,1628949927.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:27.133Z,1628949927.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:27.133Z,1628949927.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:27.134Z,1628949927.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:27.537Z,1628949927.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
244,000,00ABE,189,80,80,71,FF
2021-08-14T14:05:27.537Z,1628949927.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:27.537Z,1628949927.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:27.539Z,1628949927.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:27.937Z,1628949927.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:28.341Z,1628949928.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00AEE,187,80,80,3C,FF
2021-08-14T14:05:28.341Z,1628949928.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:28.801Z,1628949928.801 [Micromodem](INFO): Nmea in: $SNTTA,0.122061,,,,140529.23*4C

2021-08-14T14:05:28.876Z,1628949928.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.380005 m, bearing: 248.427203 deg, deltaT: 4.370059 s, approachRate: 0.659031 m/s, LOS rate: 0.843381 deg/s, posRepo size: 4
2021-08-14T14:05:31.187Z,1628949931.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:31.569Z,1628949931.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:31.569Z,1628949931.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:31.569Z,1628949931.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:31.570Z,1628949931.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:31.989Z,1628949931.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00AEE,187,80,80,3C,FF
2021-08-14T14:05:31.989Z,1628949931.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:31.989Z,1628949931.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:31.991Z,1628949931.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:32.385Z,1628949932.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:32.817Z,1628949932.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00B20,188,80,80,4C,FF
2021-08-14T14:05:32.818Z,1628949932.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:32.821Z,1628949932.821 [Micromodem](INFO): Nmea in: $SNTTA,0.107396,0.237633,,,140533.70*53

2021-08-14T14:05:33.228Z,1628949933.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.380005 m, bearing: 245.558988 deg, deltaT: 4.563104 s, approachRate: 0.657447 m/s, LOS rate: -0.628567 deg/s, posRepo size: 4
2021-08-14T14:05:35.634Z,1628949935.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:36.025Z,1628949936.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:36.025Z,1628949936.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:36.025Z,1628949936.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:36.026Z,1628949936.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:36.417Z,1628949936.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00B20,188,80,80,4C,FF
2021-08-14T14:05:36.417Z,1628949936.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:36.417Z,1628949936.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:36.419Z,1628949936.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:36.848Z,1628949936.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:37.658Z,1628949937.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140538.11*55

2021-08-14T14:05:38.463Z,1628949938.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:40.077Z,1628949940.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,188,80,80,4C,FF
2021-08-14T14:05:40.077Z,1628949940.077 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,188,80,80,4C,FF
2021-08-14T14:05:40.078Z,1628949940.078 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:05:41.283Z,1628949941.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:41.685Z,1628949941.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:41.685Z,1628949941.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:41.685Z,1628949941.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:41.686Z,1628949941.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:42.081Z,1628949942.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,188,80,80,4C,FF
2021-08-14T14:05:42.081Z,1628949942.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:42.081Z,1628949942.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:42.083Z,1628949942.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:42.503Z,1628949942.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:42.891Z,1628949942.891 [Micromodem](INFO): Nmea in: $SNTTA,0.197591,0.197473,,,140543.78*5B

2021-08-14T14:05:44.101Z,1628949944.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,037B0,187,80,80,5A,FF
2021-08-14T14:05:44.101Z,1628949944.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:44.536Z,1628949944.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 817.860046 m, bearing: 247.362377 deg, deltaT: 11.239756 s, approachRate: 60.898125 m/s, LOS rate: 0.160447 deg/s, posRepo size: 4
2021-08-14T14:05:44.536Z,1628949944.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 817.86 m. Resuming terminal guidance.
2021-08-14T14:05:44.536Z,1628949944.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T14:05:46.989Z,1628949946.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:47.335Z,1628949947.335 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:47.335Z,1628949947.335 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:47.335Z,1628949947.335 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:47.336Z,1628949947.336 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:47.733Z,1628949947.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,037B0,187,80,80,5A,FF
2021-08-14T14:05:47.733Z,1628949947.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:47.733Z,1628949947.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:47.736Z,1628949947.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:48.138Z,1628949948.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:48.541Z,1628949948.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,363,000,00BCF,189,80,80,30,FF
2021-08-14T14:05:48.542Z,1628949948.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:48.997Z,1628949948.997 [Micromodem](INFO): Nmea in: $SNTTA,0.104419,,,,140549.43*43

2021-08-14T14:05:49.087Z,1628949949.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.880005 m, bearing: 230.420666 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T14:05:49.092Z,1628949949.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 230.420666deg and heading rate command to 0 deg/s.
2021-08-14T14:05:51.411Z,1628949951.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:51.794Z,1628949951.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:51.794Z,1628949951.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:51.794Z,1628949951.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:51.795Z,1628949951.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:52.186Z,1628949952.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
363,000,00BCF,189,80,80,30,FF
2021-08-14T14:05:52.186Z,1628949952.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:52.187Z,1628949952.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:52.190Z,1628949952.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:52.622Z,1628949952.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:53.418Z,1628949953.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140553.88*58

2021-08-14T14:05:54.227Z,1628949954.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:55.833Z,1628949955.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,30,FF
2021-08-14T14:05:55.833Z,1628949955.833 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,30,FF
2021-08-14T14:05:55.833Z,1628949955.833 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:05:57.075Z,1628949957.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:05:57.425Z,1628949957.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:05:57.425Z,1628949957.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:05:57.425Z,1628949957.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:05:57.426Z,1628949957.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:05:57.833Z,1628949957.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,30,FF
2021-08-14T14:05:57.833Z,1628949957.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:05:57.833Z,1628949957.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:05:57.835Z,1628949957.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:05:58.316Z,1628949958.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:05:58.722Z,1628949958.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00C39,185,80,80,58,FF
2021-08-14T14:05:58.723Z,1628949958.723 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:05:59.141Z,1628949959.141 [Micromodem](INFO): Nmea in: $SNTTA,0.105997,,,,140559.53*49

2021-08-14T14:05:59.171Z,1628949959.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.239990 m, bearing: 250.780914 deg, deltaT: 10.296781 s, approachRate: 0.617667 m/s, LOS rate: 1.977341 deg/s, posRepo size: 2
2021-08-14T14:05:59.174Z,1628949959.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.239990 m,
      bearing: 250.780914 deg,
      approachRate: 0.617667 m/s,
      LOS rate: 1.977341 deg/s,
      cmd update: 5.932023 deg/s,
      cmd heading: 230.420666 deg,
      new cmd heading: 230.420666 deg.

2021-08-14T14:06:01.565Z,1628949961.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:01.942Z,1628949961.942 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:01.942Z,1628949961.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:01.942Z,1628949961.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:01.943Z,1628949961.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:02.354Z,1628949962.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00C39,185,80,80,58,FF
2021-08-14T14:06:02.354Z,1628949962.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:02.354Z,1628949962.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:02.356Z,1628949962.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:02.767Z,1628949962.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:03.165Z,1628949963.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,00C63,189,80,80,58,FF
2021-08-14T14:06:03.166Z,1628949963.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:06:03.598Z,1628949963.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140604.05*5C

2021-08-14T14:06:03.643Z,1628949963.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.759995 m, bearing: 197.717434 deg, deltaT: 4.342856 s, approachRate: 0.580264 m/s, LOS rate: -12.218568 deg/s, posRepo size: 3
2021-08-14T14:06:03.645Z,1628949963.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.218568 deg/s. Setting heading cmd to target bearing of 197.717434deg and heading rate command to 0 deg/s.
2021-08-14T14:06:06.046Z,1628949966.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:06.385Z,1628949966.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:06.385Z,1628949966.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:06.385Z,1628949966.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:06.386Z,1628949966.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:06.831Z,1628949966.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,00C63,189,80,80,58,FF
2021-08-14T14:06:06.831Z,1628949966.831 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:06.831Z,1628949966.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:06.834Z,1628949966.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:07.197Z,1628949967.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:08.010Z,1628949968.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,00C88,189,80,80,7B,FF
2021-08-14T14:06:08.011Z,1628949968.011 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:06:08.019Z,1628949968.019 [Micromodem](INFO): Nmea in: $SNTTA,0.105202,,,,140608.53*49

2021-08-14T14:06:08.451Z,1628949968.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.979996 m, bearing: 282.816414 deg, deltaT: 4.887579 s, approachRate: 0.454213 m/s, LOS rate: 17.411274 deg/s, posRepo size: 4
2021-08-14T14:06:08.451Z,1628949968.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.411274 deg/s. Setting heading cmd to target bearing of 282.816414deg and heading rate command to 0 deg/s.
2021-08-14T14:06:10.952Z,1628949970.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:11.245Z,1628949971.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:11.245Z,1628949971.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:11.246Z,1628949971.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:11.247Z,1628949971.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:11.637Z,1628949971.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,00C88,189,80,80,7B,FF
2021-08-14T14:06:11.637Z,1628949971.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:11.637Z,1628949971.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:11.639Z,1628949971.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:12.084Z,1628949972.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:12.458Z,1628949972.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00CB8,185,80,80,58,FF
2021-08-14T14:06:12.458Z,1628949972.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:06:12.885Z,1628949972.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140613.33*5F

2021-08-14T14:06:12.945Z,1628949972.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.859985 m, bearing: 248.198037 deg, deltaT: 4.442037 s, approachRate: 0.648349 m/s, LOS rate: -7.793356 deg/s, posRepo size: 4
2021-08-14T14:06:12.947Z,1628949972.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.859985 m,
      bearing: 248.198037 deg,
      approachRate: 0.648349 m/s,
      LOS rate: -7.793356 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 282.816414 deg,
      new cmd heading: 282.816414 deg.

2021-08-14T14:06:15.310Z,1628949975.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:15.677Z,1628949975.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:15.677Z,1628949975.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:15.677Z,1628949975.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:15.678Z,1628949975.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:16.087Z,1628949976.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00CB8,185,80,80,58,FF
2021-08-14T14:06:16.087Z,1628949976.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:16.087Z,1628949976.087 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:16.089Z,1628949976.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:16.488Z,1628949976.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:16.894Z,1628949976.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,00CDF,185,80,80,58,FF
2021-08-14T14:06:16.894Z,1628949976.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:06:17.333Z,1628949977.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140617.78*54

2021-08-14T14:06:17.387Z,1628949977.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.199997 m, bearing: 190.149092 deg, deltaT: 4.449950 s, approachRate: 0.525851 m/s, LOS rate: -13.044853 deg/s, posRepo size: 4
2021-08-14T14:06:17.409Z,1628949977.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.044853 deg/s. Setting heading cmd to target bearing of 190.149092deg and heading rate command to 0 deg/s.
2021-08-14T14:06:19.823Z,1628949979.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:20.125Z,1628949980.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:20.125Z,1628949980.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:20.125Z,1628949980.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:20.126Z,1628949980.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:20.526Z,1628949980.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,00CDF,185,80,80,58,FF
2021-08-14T14:06:20.526Z,1628949980.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:20.526Z,1628949980.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:20.553Z,1628949980.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:20.940Z,1628949980.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:21.758Z,1628949981.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140622.25*5A

2021-08-14T14:06:22.585Z,1628949982.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:24.165Z,1628949984.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,58,FF
2021-08-14T14:06:24.165Z,1628949984.165 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,58,FF
2021-08-14T14:06:24.166Z,1628949984.166 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:06:25.415Z,1628949985.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:25.825Z,1628949985.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:25.825Z,1628949985.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:25.825Z,1628949985.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:25.826Z,1628949985.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:26.181Z,1628949986.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,58,FF
2021-08-14T14:06:26.181Z,1628949986.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:26.181Z,1628949986.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:26.183Z,1628949986.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:26.635Z,1628949986.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:26.990Z,1628949986.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,004
F,185,80,80,58,FF
2021-08-14T14:06:26.990Z,1628949986.990 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2AD,000,004
F,185,80,80,58,FF
2021-08-14T14:06:27.418Z,1628949987.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140627.88*58

2021-08-14T14:06:28.238Z,1628949988.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:30.792Z,1628949990.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:31.852Z,1628949991.852 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.025873
2021-08-14T14:06:33.475Z,1628949993.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:33.861Z,1628949993.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:33.861Z,1628949993.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:33.861Z,1628949993.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:33.862Z,1628949993.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:34.261Z,1628949994.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,004
F,185,80,80,58,FF
2021-08-14T14:06:34.261Z,1628949994.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:34.262Z,1628949994.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:34.263Z,1628949994.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:34.697Z,1628949994.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:35.069Z,1628949995.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,004
F,185,80,80,58,FF
2021-08-14T14:06:35.070Z,1628949995.070 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,1A1,000,004
F,185,80,80,58,FF
2021-08-14T14:06:36.326Z,1628949996.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:39.158Z,1628949999.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:39.936Z,1628949999.936 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073716
2021-08-14T14:06:41.976Z,1628950001.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:42.345Z,1628950002.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:42.345Z,1628950002.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:42.345Z,1628950002.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:42.346Z,1628950002.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:42.750Z,1628950002.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,004
F,185,80,80,58,FF
2021-08-14T14:06:42.750Z,1628950002.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:42.751Z,1628950002.751 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:42.759Z,1628950002.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:43.160Z,1628950003.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:43.560Z,1628950003.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,004
F,185,80,80,58,FF
2021-08-14T14:06:43.561Z,1628950003.561 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,044,000,004
F,185,80,80,58,FF
2021-08-14T14:06:43.979Z,1628950003.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140644.46*5F

2021-08-14T14:06:44.847Z,1628950004.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:47.639Z,1628950007.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:48.428Z,1628950008.428 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.081871
2021-08-14T14:06:50.458Z,1628950010.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:50.833Z,1628950010.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:50.833Z,1628950010.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:50.834Z,1628950010.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:50.835Z,1628950010.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:51.233Z,1628950011.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,004
F,185,80,80,58,FF
2021-08-14T14:06:51.233Z,1628950011.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:51.234Z,1628950011.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:51.235Z,1628950011.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:51.651Z,1628950011.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:52.053Z,1628950012.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00DBC,185,80,80,58,FF
2021-08-14T14:06:52.054Z,1628950012.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:06:52.489Z,1628950012.489 [Micromodem](INFO): Nmea in: $SNTTA,0.128837,,,,140652.93*49

2021-08-14T14:06:52.508Z,1628950012.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.460007 m, bearing: 192.827360 deg, deltaT: 35.135803 s, approachRate: 0.377393 m/s, LOS rate: 0.076226 deg/s, posRepo size: 4
2021-08-14T14:06:52.510Z,1628950012.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.460007 m,
      bearing: 192.827360 deg,
      approachRate: 0.377393 m/s,
      LOS rate: 0.076226 deg/s,
      cmd update: 0.228678 deg/s,
      cmd heading: 190.149092 deg,
      new cmd heading: 190.149092 deg.

2021-08-14T14:06:54.876Z,1628950014.876 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:06:54.935Z,1628950014.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:55.273Z,1628950015.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:55.273Z,1628950015.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:55.273Z,1628950015.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:55.274Z,1628950015.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:06:55.681Z,1628950015.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00DBC,185,80,80,58,FF
2021-08-14T14:06:55.682Z,1628950015.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:06:55.682Z,1628950015.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:06:55.684Z,1628950015.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:06:56.097Z,1628950016.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:06:56.490Z,1628950016.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BA,000,00DBC,185,80,80,58,FF
2021-08-14T14:06:56.490Z,1628950016.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:06:56.933Z,1628950016.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140657.38*54

2021-08-14T14:06:57.021Z,1628950017.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.460007 m, bearing: 134.168234 deg, deltaT: 4.392732 s, approachRate: 0.000000 m/s, LOS rate: -13.353677 deg/s, posRepo size: 4
2021-08-14T14:06:57.022Z,1628950017.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.353677 deg/s. Setting heading cmd to target bearing of 134.168234deg and heading rate command to 0 deg/s.
2021-08-14T14:06:59.336Z,1628950019.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:06:59.717Z,1628950019.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:06:59.717Z,1628950019.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:06:59.717Z,1628950019.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:06:59.718Z,1628950019.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:00.129Z,1628950020.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BA,000,00DBC,185,80,80,58,FF
2021-08-14T14:07:00.129Z,1628950020.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:00.129Z,1628950020.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:00.131Z,1628950020.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:00.529Z,1628950020.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:01.354Z,1628950021.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,401,000,00DD8,189,80,80,B5,FF
2021-08-14T14:07:01.354Z,1628950021.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:01.357Z,1628950021.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140701.83*56

2021-08-14T14:07:01.813Z,1628950021.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.140015 m, bearing: 139.942598 deg, deltaT: 4.897316 s, approachRate: 0.343047 m/s, LOS rate: 1.179088 deg/s, posRepo size: 4
2021-08-14T14:07:01.815Z,1628950021.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.140015 m,
      bearing: 139.942598 deg,
      approachRate: 0.343047 m/s,
      LOS rate: 1.179088 deg/s,
      cmd update: 3.537263 deg/s,
      cmd heading: 134.168234 deg,
      new cmd heading: 134.168234 deg.

2021-08-14T14:07:04.182Z,1628950024.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:04.584Z,1628950024.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:04.585Z,1628950024.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:04.585Z,1628950024.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:04.587Z,1628950024.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:04.969Z,1628950024.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
401,000,00DD8,189,80,80,B5,FF
2021-08-14T14:07:04.969Z,1628950024.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:04.969Z,1628950024.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:04.971Z,1628950024.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:05.378Z,1628950025.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:05.818Z,1628950025.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DE4,189,80,80,95,FF
2021-08-14T14:07:05.818Z,1628950025.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:06.225Z,1628950026.225 [Micromodem](INFO): Nmea in: $SNTTA,0.122722,,,,140706.67*43

2021-08-14T14:07:06.267Z,1628950026.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.860001 m, bearing: 111.602313 deg, deltaT: 4.455278 s, approachRate: 0.161603 m/s, LOS rate: -6.361059 deg/s, posRepo size: 4
2021-08-14T14:07:06.270Z,1628950026.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.860001 m,
      bearing: 111.602313 deg,
      approachRate: 0.161603 m/s,
      LOS rate: -6.361059 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 150.042801 deg,
      new cmd heading: 151.459373 deg.

2021-08-14T14:07:08.695Z,1628950028.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:09.011Z,1628950029.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:09.011Z,1628950029.011 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:09.013Z,1628950029.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:09.040Z,1628950029.040 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:09.043Z,1628950029.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DE4,189,80,80,95,FF
2021-08-14T14:07:09.045Z,1628950029.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:09.046Z,1628950029.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:09.084Z,1628950029.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:09.420Z,1628950029.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:10.233Z,1628950030.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DDF,189,80,80,A4,FF
2021-08-14T14:07:10.234Z,1628950030.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:10.682Z,1628950030.682 [Micromodem](INFO): Nmea in: ,,,140710.81*45

2021-08-14T14:07:10.683Z,1628950030.683 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,,,140710.81*45
 expected 0
2021-08-14T14:07:10.719Z,1628950030.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 92.865909 deg, deltaT: 4.465207 s, approachRate: -0.067187 m/s, LOS rate: -4.196089 deg/s, posRepo size: 4
2021-08-14T14:07:10.721Z,1628950030.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 92.865909 deg,
      approachRate: -0.067187 m/s,
      LOS rate: -4.196089 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 96.507872 deg,
      new cmd heading: 91.822364 deg.

2021-08-14T14:07:13.082Z,1628950033.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:13.481Z,1628950033.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:13.481Z,1628950033.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:13.481Z,1628950033.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:13.482Z,1628950033.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:13.861Z,1628950033.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DDF,189,80,80,A4,FF
2021-08-14T14:07:13.861Z,1628950033.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:13.861Z,1628950033.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:13.863Z,1628950033.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:14.276Z,1628950034.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:14.678Z,1628950034.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DDF,189,80,80,A4,FF
2021-08-14T14:07:14.678Z,1628950034.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:15.106Z,1628950035.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140715.56*5B

2021-08-14T14:07:15.132Z,1628950035.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 74.666071 deg, deltaT: 4.479767 s, approachRate: 0.000000 m/s, LOS rate: -4.062675 deg/s, posRepo size: 4
2021-08-14T14:07:15.134Z,1628950035.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 74.666071 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.062675 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 42.763771 deg,
      new cmd heading: 38.865846 deg.

2021-08-14T14:07:17.543Z,1628950037.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:17.901Z,1628950037.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:17.901Z,1628950037.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:17.901Z,1628950037.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:17.902Z,1628950037.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:18.318Z,1628950038.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DDF,189,80,80,A4,FF
2021-08-14T14:07:18.318Z,1628950038.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:18.318Z,1628950038.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:18.320Z,1628950038.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:18.708Z,1628950038.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:19.121Z,1628950039.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,323,000,00DDF,189,80,80,A4,FF
2021-08-14T14:07:19.122Z,1628950039.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:19.549Z,1628950039.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140720.01*5F

2021-08-14T14:07:19.585Z,1628950039.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 81.847284 deg, deltaT: 4.332056 s, approachRate: 0.000000 m/s, LOS rate: 1.657692 deg/s, posRepo size: 4
2021-08-14T14:07:19.587Z,1628950039.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 81.847284 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.657692 deg/s,
      cmd update: 4.973075 deg/s,
      cmd heading: 350.733150 deg,
      new cmd heading: 345.426629 deg.

2021-08-14T14:07:21.989Z,1628950041.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:22.350Z,1628950042.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:22.350Z,1628950042.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:22.350Z,1628950042.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:22.351Z,1628950042.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:22.742Z,1628950042.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
323,000,00DDF,189,80,80,A4,FF
2021-08-14T14:07:22.742Z,1628950042.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:22.742Z,1628950042.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:22.745Z,1628950042.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:23.151Z,1628950043.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:23.557Z,1628950043.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,00881,189,80,80,8D,FF
2021-08-14T14:07:23.558Z,1628950043.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:23.998Z,1628950043.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140724.44*5A

2021-08-14T14:07:24.063Z,1628950044.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.120003 m, bearing: 77.373298 deg, deltaT: 4.455378 s, approachRate: -18.503479 m/s, LOS rate: -1.004176 deg/s, posRepo size: 4
2021-08-14T14:07:24.069Z,1628950044.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.120003 m,
      bearing: 77.373298 deg,
      approachRate: -18.503479 m/s,
      LOS rate: -1.004176 deg/s,
      cmd update: -3.012529 deg/s,
      cmd heading: 12.896210 deg,
      new cmd heading: 15.201160 deg.

2021-08-14T14:07:26.431Z,1628950046.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:26.816Z,1628950046.816 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:26.816Z,1628950046.816 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:26.817Z,1628950046.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:26.818Z,1628950046.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:27.191Z,1628950047.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,00881,189,80,80,8D,FF
2021-08-14T14:07:27.191Z,1628950047.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:27.192Z,1628950047.192 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:27.194Z,1628950047.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:27.596Z,1628950047.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:28.006Z,1628950048.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00D5C,189,80,80,8D,FF
2021-08-14T14:07:28.007Z,1628950048.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:28.437Z,1628950048.437 [Micromodem](INFO): Nmea in: $SNTTA,0.119611,,,,140728.89*46

2021-08-14T14:07:28.472Z,1628950048.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.700012 m, bearing: 81.457123 deg, deltaT: 4.491082 s, approachRate: 16.606245 m/s, LOS rate: 0.909319 deg/s, posRepo size: 4
2021-08-14T14:07:28.474Z,1628950048.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.700012 m,
      bearing: 81.457123 deg,
      approachRate: 16.606245 m/s,
      LOS rate: 0.909319 deg/s,
      cmd update: 2.727956 deg/s,
      cmd heading: 359.366558 deg,
      new cmd heading: 358.217236 deg.

2021-08-14T14:07:30.897Z,1628950050.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:31.237Z,1628950051.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:31.237Z,1628950051.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:31.238Z,1628950051.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:31.238Z,1628950051.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:31.633Z,1628950051.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,00D5C,189,80,80,8D,FF
2021-08-14T14:07:31.633Z,1628950051.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:31.633Z,1628950051.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:31.635Z,1628950051.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:32.044Z,1628950052.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:32.448Z,1628950052.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00D2E,189,80,80,8D,FF
2021-08-14T14:07:32.449Z,1628950052.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:32.873Z,1628950052.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140733.33*5C

2021-08-14T14:07:32.971Z,1628950052.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.940002 m, bearing: 83.073986 deg, deltaT: 4.383887 s, approachRate: -0.629580 m/s, LOS rate: 0.368819 deg/s, posRepo size: 4
2021-08-14T14:07:32.979Z,1628950052.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.940002 m,
      bearing: 83.073986 deg,
      approachRate: -0.629580 m/s,
      LOS rate: 0.368819 deg/s,
      cmd update: 1.106458 deg/s,
      cmd heading: 11.325604 deg,
      new cmd heading: 12.681409 deg.

2021-08-14T14:07:35.287Z,1628950055.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:35.677Z,1628950055.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:35.677Z,1628950055.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:35.677Z,1628950055.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:35.678Z,1628950055.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:36.077Z,1628950056.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00D2E,189,80,80,8D,FF
2021-08-14T14:07:36.077Z,1628950056.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:36.077Z,1628950056.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:36.079Z,1628950056.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:36.493Z,1628950056.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:36.891Z,1628950056.891 [Micromodem](INFO): Nmea in: $SNTTA,0.157758,0.157764,,,140737.78*58

2021-08-14T14:07:38.149Z,1628950058.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:39.713Z,1628950059.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,8D,FF
2021-08-14T14:07:39.713Z,1628950059.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,8D,FF
2021-08-14T14:07:39.713Z,1628950059.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:07:40.978Z,1628950060.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:41.326Z,1628950061.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:41.326Z,1628950061.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:41.327Z,1628950061.327 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:41.328Z,1628950061.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:41.742Z,1628950061.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,8D,FF
2021-08-14T14:07:41.742Z,1628950061.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:41.742Z,1628950061.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:41.779Z,1628950061.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:41.830Z,1628950061.830 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:07:42.137Z,1628950062.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:42.585Z,1628950062.585 [CTD_Seabird](ERROR): Failed to parse device response: 6.45,23.9883,4.767.70
2021-08-14T14:07:42.967Z,1628950062.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00CD3,186,80,80,8C,FF
2021-08-14T14:07:42.969Z,1628950062.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:42.978Z,1628950062.978 [Micromodem](INFO): Nmea in: $SNTTA,0.108445,,,,140743.47*4A

2021-08-14T14:07:43.395Z,1628950063.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.479996 m, bearing: 27.906579 deg, deltaT: 10.593261 s, approachRate: -0.515423 m/s, LOS rate: -5.207783 deg/s, posRepo size: 4
2021-08-14T14:07:43.397Z,1628950063.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.479996 m,
      bearing: 27.906579 deg,
      approachRate: -0.515423 m/s,
      LOS rate: -5.207783 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 23.041962 deg,
      new cmd heading: 23.408975 deg.

2021-08-14T14:07:45.858Z,1628950065.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:46.173Z,1628950066.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:46.173Z,1628950066.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:46.173Z,1628950066.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:46.174Z,1628950066.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:46.593Z,1628950066.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00CD3,186,80,80,8C,FF
2021-08-14T14:07:46.593Z,1628950066.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:46.594Z,1628950066.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:46.632Z,1628950066.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:47.037Z,1628950067.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:47.871Z,1628950067.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140748.33*50

2021-08-14T14:07:48.677Z,1628950068.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0391E,189,80,80,9B,FF
2021-08-14T14:07:48.678Z,1628950068.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:49.193Z,1628950069.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 839.820007 m, bearing: 85.572694 deg, deltaT: 5.742808 s, approachRate: 118.468185 m/s, LOS rate: 10.041449 deg/s, posRepo size: 4
2021-08-14T14:07:49.195Z,1628950069.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 839.820007 m,
      bearing: 85.572694 deg,
      approachRate: 118.468185 m/s,
      LOS rate: 10.041449 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 314.194299 deg,
      new cmd heading: 309.495891 deg.

2021-08-14T14:07:51.546Z,1628950071.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:51.921Z,1628950071.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:51.921Z,1628950071.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:51.921Z,1628950071.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:51.922Z,1628950071.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:52.325Z,1628950072.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0391E,189,80,80,9B,FF
2021-08-14T14:07:52.325Z,1628950072.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:52.325Z,1628950072.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:52.327Z,1628950072.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:52.755Z,1628950072.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:53.137Z,1628950073.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00CA4,187,80,80,9B,FF
2021-08-14T14:07:53.138Z,1628950073.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:53.578Z,1628950073.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140754.02*5F

2021-08-14T14:07:53.602Z,1628950073.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.659988 m, bearing: 28.324771 deg, deltaT: 4.381230 s, approachRate: -155.928818 m/s, LOS rate: -13.066633 deg/s, posRepo size: 4
2021-08-14T14:07:53.603Z,1628950073.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.066633 deg/s. Setting heading cmd to target bearing of 28.324771deg and heading rate command to 0 deg/s.
2021-08-14T14:07:56.012Z,1628950076.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:07:56.365Z,1628950076.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:07:56.365Z,1628950076.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:07:56.365Z,1628950076.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:07:56.366Z,1628950076.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:07:56.793Z,1628950076.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00CA4,187,80,80,9B,FF
2021-08-14T14:07:56.793Z,1628950076.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:07:56.793Z,1628950076.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:07:56.795Z,1628950076.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:07:57.177Z,1628950077.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:07:57.577Z,1628950077.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00CA4,187,80,80,9B,FF
2021-08-14T14:07:57.578Z,1628950077.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:07:58.001Z,1628950078.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140758.49*5C

2021-08-14T14:07:58.047Z,1628950078.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.659988 m, bearing: 56.595535 deg, deltaT: 4.436252 s, approachRate: 0.000000 m/s, LOS rate: 6.372669 deg/s, posRepo size: 4
2021-08-14T14:07:58.055Z,1628950078.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.659988 m,
      bearing: 56.595535 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.372669 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 28.324771 deg,
      new cmd heading: 28.324771 deg.

2021-08-14T14:08:00.438Z,1628950080.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:00.836Z,1628950080.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:00.836Z,1628950080.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:00.837Z,1628950080.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:00.838Z,1628950080.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:01.221Z,1628950081.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00CA4,187,80,80,9B,FF
2021-08-14T14:08:01.221Z,1628950081.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:01.221Z,1628950081.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:01.223Z,1628950081.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:01.620Z,1628950081.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:02.025Z,1628950082.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00CAE,187,80,80,9B,FF
2021-08-14T14:08:02.026Z,1628950082.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:02.457Z,1628950082.457 [Micromodem](INFO): Nmea in: $SNTTA,0.106904,,,,140802.92*4E

2021-08-14T14:08:02.513Z,1628950082.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.260010 m, bearing: 28.216630 deg, deltaT: 4.453879 s, approachRate: 0.134719 m/s, LOS rate: -6.371728 deg/s, posRepo size: 4
2021-08-14T14:08:02.515Z,1628950082.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 28.216630 deg,
      approachRate: 0.134719 m/s,
      LOS rate: -6.371728 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 81.522608 deg,
      new cmd heading: 86.999696 deg.

2021-08-14T14:08:04.926Z,1628950084.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:05.259Z,1628950085.259 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:05.259Z,1628950085.259 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:05.259Z,1628950085.259 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:05.260Z,1628950085.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:05.657Z,1628950085.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00CAE,187,80,80,9B,FF
2021-08-14T14:08:05.657Z,1628950085.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:05.657Z,1628950085.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:05.659Z,1628950085.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:06.069Z,1628950086.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:06.470Z,1628950086.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B7C,000,00CA5,189,80,80,9B,FF
2021-08-14T14:08:06.470Z,1628950086.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:06.909Z,1628950086.909 [Micromodem](INFO): Nmea in: $SNTTA,0.104125,,,,140807.36*4C

2021-08-14T14:08:06.985Z,1628950086.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.720001 m, bearing: 76.605742 deg, deltaT: 4.446218 s, approachRate: -0.121453 m/s, LOS rate: 10.883207 deg/s, posRepo size: 4
2021-08-14T14:08:06.987Z,1628950086.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.720001 m,
      bearing: 76.605742 deg,
      approachRate: -0.121453 m/s,
      LOS rate: 10.883207 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 28.014751 deg,
      new cmd heading: 22.396003 deg.

2021-08-14T14:08:09.327Z,1628950089.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:09.705Z,1628950089.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:09.705Z,1628950089.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:09.705Z,1628950089.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:09.706Z,1628950089.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:10.097Z,1628950090.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B7C,000,00CA5,189,80,80,9B,FF
2021-08-14T14:08:10.097Z,1628950090.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:10.097Z,1628950090.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:10.099Z,1628950090.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:10.513Z,1628950090.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:10.930Z,1628950090.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B39,000,00C8E,189,80,80,C0,FF
2021-08-14T14:08:10.930Z,1628950090.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:11.353Z,1628950091.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140811.80*5B

2021-08-14T14:08:11.376Z,1628950091.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.340012 m, bearing: 99.270953 deg, deltaT: 4.478110 s, approachRate: -0.308163 m/s, LOS rate: 5.061334 deg/s, posRepo size: 4
2021-08-14T14:08:11.378Z,1628950091.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.340012 m,
      bearing: 99.270953 deg,
      approachRate: -0.308163 m/s,
      LOS rate: 5.061334 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 81.846752 deg,
      new cmd heading: 86.329220 deg.

2021-08-14T14:08:13.813Z,1628950093.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:14.149Z,1628950094.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:14.149Z,1628950094.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:14.149Z,1628950094.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:14.150Z,1628950094.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:14.545Z,1628950094.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B39,000,00C8E,189,80,80,C0,FF
2021-08-14T14:08:14.545Z,1628950094.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:14.546Z,1628950094.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:14.551Z,1628950094.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:14.961Z,1628950094.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:15.362Z,1628950095.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,00C70,189,80,80,C0,FF
2021-08-14T14:08:15.363Z,1628950095.363 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:15.842Z,1628950095.842 [Micromodem](INFO): Nmea in: $SNTTA,0.104437,,,,140816.25*48

2021-08-14T14:08:15.875Z,1628950095.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.540009 m, bearing: 90.533406 deg, deltaT: 4.376714 s, approachRate: -0.411268 m/s, LOS rate: -1.996371 deg/s, posRepo size: 4
2021-08-14T14:08:15.878Z,1628950095.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.540009 m,
      bearing: 90.533406 deg,
      approachRate: -0.411268 m/s,
      LOS rate: -1.996371 deg/s,
      cmd update: -5.989115 deg/s,
      cmd heading: 134.415670 deg,
      new cmd heading: 140.327638 deg.

2021-08-14T14:08:18.199Z,1628950098.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:18.597Z,1628950098.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:18.597Z,1628950098.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:18.598Z,1628950098.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:18.599Z,1628950098.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:19.000Z,1628950099.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,00C70,189,80,80,C0,FF
2021-08-14T14:08:19.000Z,1628950099.000 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:19.001Z,1628950099.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:19.002Z,1628950099.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:19.396Z,1628950099.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:19.837Z,1628950099.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00C48,189,80,80,9F,FF
2021-08-14T14:08:19.837Z,1628950099.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:20.237Z,1628950100.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140820.70*56

2021-08-14T14:08:20.259Z,1628950100.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.140015 m, bearing: 101.430816 deg, deltaT: 4.501203 s, approachRate: -0.533189 m/s, LOS rate: 2.420999 deg/s, posRepo size: 4
2021-08-14T14:08:20.262Z,1628950100.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.140015 m,
      bearing: 101.430816 deg,
      approachRate: -0.533189 m/s,
      LOS rate: 2.420999 deg/s,
      cmd update: 7.262998 deg/s,
      cmd heading: 107.457438 deg,
      new cmd heading: 105.209220 deg.

2021-08-14T14:08:22.710Z,1628950102.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:23.029Z,1628950103.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:23.029Z,1628950103.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:23.029Z,1628950103.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:23.030Z,1628950103.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:23.433Z,1628950103.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00C48,189,80,80,9F,FF
2021-08-14T14:08:23.433Z,1628950103.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:23.433Z,1628950103.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:23.435Z,1628950103.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:23.845Z,1628950103.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:24.254Z,1628950104.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00C19,185,80,80,56,FF
2021-08-14T14:08:24.254Z,1628950104.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:24.689Z,1628950104.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140825.13*56

2021-08-14T14:08:24.790Z,1628950104.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.320007 m, bearing: 91.409508 deg, deltaT: 4.387451 s, approachRate: -0.642744 m/s, LOS rate: -2.284084 deg/s, posRepo size: 4
2021-08-14T14:08:24.797Z,1628950104.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.320007 m,
      bearing: 91.409508 deg,
      approachRate: -0.642744 m/s,
      LOS rate: -2.284084 deg/s,
      cmd update: -6.852253 deg/s,
      cmd heading: 139.323332 deg,
      new cmd heading: 143.093075 deg.

2021-08-14T14:08:27.108Z,1628950107.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:27.473Z,1628950107.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:27.473Z,1628950107.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:27.473Z,1628950107.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:27.474Z,1628950107.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:27.881Z,1628950107.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00C19,185,80,80,56,FF
2021-08-14T14:08:27.881Z,1628950107.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:27.881Z,1628950107.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:27.883Z,1628950107.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:28.285Z,1628950108.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:28.689Z,1628950108.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00BE7,185,80,80,A5,FF
2021-08-14T14:08:28.690Z,1628950108.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:29.125Z,1628950109.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140829.58*55

2021-08-14T14:08:29.175Z,1628950109.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.320007 m, bearing: 89.333144 deg, deltaT: 4.541422 s, approachRate: -0.660586 m/s, LOS rate: -0.457206 deg/s, posRepo size: 4
2021-08-14T14:08:29.178Z,1628950109.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.320007 m,
      bearing: 89.333144 deg,
      approachRate: -0.660586 m/s,
      LOS rate: -0.457206 deg/s,
      cmd update: -1.371617 deg/s,
      cmd heading: 108.260759 deg,
      new cmd heading: 105.719437 deg.

2021-08-14T14:08:31.542Z,1628950111.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:31.929Z,1628950111.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:31.929Z,1628950111.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:31.929Z,1628950111.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:31.930Z,1628950111.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:32.325Z,1628950112.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,00BE7,185,80,80,A5,FF
2021-08-14T14:08:32.325Z,1628950112.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:32.325Z,1628950112.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:32.327Z,1628950112.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:32.745Z,1628950112.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:33.137Z,1628950113.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,00BBB,189,80,80,9F,FF
2021-08-14T14:08:33.137Z,1628950113.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:33.577Z,1628950113.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140834.02*56

2021-08-14T14:08:33.600Z,1628950113.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.679993 m, bearing: 83.021298 deg, deltaT: 4.365561 s, approachRate: -0.604737 m/s, LOS rate: -1.445827 deg/s, posRepo size: 4
2021-08-14T14:08:33.602Z,1628950113.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.679993 m,
      bearing: 83.021298 deg,
      approachRate: -0.604737 m/s,
      LOS rate: -1.445827 deg/s,
      cmd update: -4.337481 deg/s,
      cmd heading: 102.261524 deg,
      new cmd heading: 101.683880 deg.

2021-08-14T14:08:35.991Z,1628950115.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:36.365Z,1628950116.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:36.365Z,1628950116.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:36.365Z,1628950116.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:36.366Z,1628950116.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:36.778Z,1628950116.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,00BBB,189,80,80,9F,FF
2021-08-14T14:08:36.779Z,1628950116.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:36.780Z,1628950116.780 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:36.784Z,1628950116.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:37.177Z,1628950117.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:37.581Z,1628950117.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,00B8E,187,80,80,AA,FF
2021-08-14T14:08:37.582Z,1628950117.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:38.009Z,1628950118.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140838.48*54

2021-08-14T14:08:38.055Z,1628950118.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.980011 m, bearing: 83.567119 deg, deltaT: 4.420963 s, approachRate: -0.610723 m/s, LOS rate: 0.123462 deg/s, posRepo size: 4
2021-08-14T14:08:38.061Z,1628950118.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.980011 m,
      bearing: 83.567119 deg,
      approachRate: -0.610723 m/s,
      LOS rate: 0.123462 deg/s,
      cmd update: 0.370386 deg/s,
      cmd heading: 83.085752 deg,
      new cmd heading: 81.110931 deg.

2021-08-14T14:08:40.419Z,1628950120.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:40.833Z,1628950120.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:40.833Z,1628950120.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:40.833Z,1628950120.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:40.834Z,1628950120.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:41.209Z,1628950121.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,00B8E,187,80,80,AA,FF
2021-08-14T14:08:41.209Z,1628950121.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:41.209Z,1628950121.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:41.211Z,1628950121.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:41.620Z,1628950121.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:42.021Z,1628950122.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00B5F,184,80,80,9D,FF
2021-08-14T14:08:42.022Z,1628950122.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:42.457Z,1628950122.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140842.91*5D

2021-08-14T14:08:42.505Z,1628950122.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.160004 m, bearing: 90.077955 deg, deltaT: 4.453973 s, approachRate: -0.633144 m/s, LOS rate: 1.461804 deg/s, posRepo size: 4
2021-08-14T14:08:42.507Z,1628950122.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.160004 m,
      bearing: 90.077955 deg,
      approachRate: -0.633144 m/s,
      LOS rate: 1.461804 deg/s,
      cmd update: 4.385413 deg/s,
      cmd heading: 84.735449 deg,
      new cmd heading: 84.902196 deg.

2021-08-14T14:08:44.936Z,1628950124.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:45.253Z,1628950125.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:45.253Z,1628950125.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:45.253Z,1628950125.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:45.254Z,1628950125.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:45.661Z,1628950125.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00B5F,184,80,80,9D,FF
2021-08-14T14:08:45.661Z,1628950125.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:45.661Z,1628950125.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:45.663Z,1628950125.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:46.065Z,1628950126.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:46.470Z,1628950126.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00B29,186,80,80,A2,FF
2021-08-14T14:08:46.470Z,1628950126.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:46.909Z,1628950126.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140847.36*55

2021-08-14T14:08:46.975Z,1628950126.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.919998 m, bearing: 90.974595 deg, deltaT: 4.433510 s, approachRate: -0.730799 m/s, LOS rate: 0.202242 deg/s, posRepo size: 4
2021-08-14T14:08:46.979Z,1628950126.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.919998 m,
      bearing: 90.974595 deg,
      approachRate: -0.730799 m/s,
      LOS rate: 0.202242 deg/s,
      cmd update: 0.606725 deg/s,
      cmd heading: 104.177353 deg,
      new cmd heading: 106.317996 deg.

2021-08-14T14:08:49.329Z,1628950129.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:49.697Z,1628950129.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:49.697Z,1628950129.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:49.697Z,1628950129.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:49.698Z,1628950129.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:50.109Z,1628950130.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00B29,186,80,80,A2,FF
2021-08-14T14:08:50.110Z,1628950130.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:50.110Z,1628950130.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:50.111Z,1628950130.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:50.505Z,1628950130.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:50.917Z,1628950130.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00AF0,186,80,80,68,FF
2021-08-14T14:08:50.917Z,1628950130.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:51.341Z,1628950131.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140851.81*5E

2021-08-14T14:08:51.384Z,1628950131.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.500000 m, bearing: 89.783820 deg, deltaT: 4.498094 s, approachRate: -0.760322 m/s, LOS rate: -0.264729 deg/s, posRepo size: 4
2021-08-14T14:08:51.386Z,1628950131.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 89.783820 deg,
      approachRate: -0.760322 m/s,
      LOS rate: -0.264729 deg/s,
      cmd update: -0.794186 deg/s,
      cmd heading: 106.906440 deg,
      new cmd heading: 107.136511 deg.

2021-08-14T14:08:53.810Z,1628950133.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:54.181Z,1628950134.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:54.181Z,1628950134.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:54.181Z,1628950134.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:54.182Z,1628950134.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:54.541Z,1628950134.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00AF0,186,80,80,68,FF
2021-08-14T14:08:54.541Z,1628950134.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:54.542Z,1628950134.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:54.543Z,1628950134.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:54.973Z,1628950134.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:55.361Z,1628950135.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,00ABF,186,80,80,9B,FF
2021-08-14T14:08:55.362Z,1628950135.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:08:55.813Z,1628950135.813 [Micromodem](INFO): Nmea in: $SNTTA,0.091907,,,,140856.24*4E

2021-08-14T14:08:55.859Z,1628950135.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.560005 m, bearing: 84.145472 deg, deltaT: 4.421335 s, approachRate: -0.664956 m/s, LOS rate: -1.275259 deg/s, posRepo size: 4
2021-08-14T14:08:55.867Z,1628950135.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.560005 m,
      bearing: 84.145472 deg,
      approachRate: -0.664956 m/s,
      LOS rate: -1.275259 deg/s,
      cmd update: -3.825778 deg/s,
      cmd heading: 103.398038 deg,
      new cmd heading: 103.035414 deg.

2021-08-14T14:08:58.221Z,1628950138.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:08:58.592Z,1628950138.592 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:08:58.593Z,1628950138.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:08:58.593Z,1628950138.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:08:58.595Z,1628950138.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:08:59.002Z,1628950139.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,00ABF,186,80,80,9B,FF
2021-08-14T14:08:59.002Z,1628950139.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:08:59.002Z,1628950139.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:08:59.005Z,1628950139.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:08:59.401Z,1628950139.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:08:59.837Z,1628950139.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,00A8A,186,80,80,A3,FF
2021-08-14T14:08:59.838Z,1628950139.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:00.225Z,1628950140.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140900.70*55

2021-08-14T14:09:00.267Z,1628950140.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.379997 m, bearing: 85.937707 deg, deltaT: 4.458640 s, approachRate: -0.713224 m/s, LOS rate: 0.401969 deg/s, posRepo size: 4
2021-08-14T14:09:00.274Z,1628950140.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.379997 m,
      bearing: 85.937707 deg,
      approachRate: -0.713224 m/s,
      LOS rate: 0.401969 deg/s,
      cmd update: 1.205907 deg/s,
      cmd heading: 86.326228 deg,
      new cmd heading: 84.785323 deg.

2021-08-14T14:09:02.703Z,1628950142.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:03.034Z,1628950143.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:03.034Z,1628950143.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:03.034Z,1628950143.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:03.034Z,1628950143.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:03.437Z,1628950143.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,00A8A,186,80,80,A3,FF
2021-08-14T14:09:03.437Z,1628950143.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:03.437Z,1628950143.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:03.439Z,1628950143.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:03.847Z,1628950143.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:04.249Z,1628950144.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00A58,184,80,80,B4,FF
2021-08-14T14:09:04.250Z,1628950144.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:04.698Z,1628950144.698 [Micromodem](INFO): Nmea in: $SNTTA,0.089404,,,,140905.14*4D

2021-08-14T14:09:04.834Z,1628950144.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.380005 m, bearing: 89.811722 deg, deltaT: 4.421526 s, approachRate: -0.678497 m/s, LOS rate: 0.876171 deg/s, posRepo size: 4
2021-08-14T14:09:04.840Z,1628950144.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.380005 m,
      bearing: 89.811722 deg,
      approachRate: -0.678497 m/s,
      LOS rate: 0.876171 deg/s,
      cmd update: 2.628514 deg/s,
      cmd heading: 91.634267 deg,
      new cmd heading: 92.318716 deg.

2021-08-14T14:09:06.791Z,1628950146.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:07.077Z,1628950147.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:07.077Z,1628950147.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:07.078Z,1628950147.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:07.078Z,1628950147.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:07.481Z,1628950147.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00A58,184,80,80,B4,FF
2021-08-14T14:09:07.481Z,1628950147.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:07.482Z,1628950147.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:07.483Z,1628950147.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:07.889Z,1628950147.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:08.289Z,1628950148.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00A29,185,80,80,A4,FF
2021-08-14T14:09:08.289Z,1628950148.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:08.730Z,1628950148.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140909.18*52

2021-08-14T14:09:08.836Z,1628950148.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.559998 m, bearing: 89.566688 deg, deltaT: 4.019745 s, approachRate: -0.701539 m/s, LOS rate: -0.060957 deg/s, posRepo size: 4
2021-08-14T14:09:08.838Z,1628950148.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.559998 m,
      bearing: 89.566688 deg,
      approachRate: -0.701539 m/s,
      LOS rate: -0.060957 deg/s,
      cmd update: -0.182872 deg/s,
      cmd heading: 102.253147 deg,
      new cmd heading: 103.645174 deg.

2021-08-14T14:09:10.849Z,1628950150.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:11.113Z,1628950151.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:11.113Z,1628950151.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:11.113Z,1628950151.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:11.114Z,1628950151.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:11.517Z,1628950151.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00A29,185,80,80,A4,FF
2021-08-14T14:09:11.517Z,1628950151.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:11.517Z,1628950151.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:11.519Z,1628950151.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:11.924Z,1628950151.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:12.329Z,1628950152.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,009FB,185,80,80,B2,FF
2021-08-14T14:09:12.329Z,1628950152.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:12.798Z,1628950152.798 [Micromodem](INFO): Nmea in: $SNTTA,0.077059,,,,140913.21*41

2021-08-14T14:09:12.888Z,1628950152.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.800003 m, bearing: 86.212430 deg, deltaT: 4.059898 s, approachRate: -0.679819 m/s, LOS rate: -0.826193 deg/s, posRepo size: 4
2021-08-14T14:09:12.890Z,1628950152.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.800003 m,
      bearing: 86.212430 deg,
      approachRate: -0.679819 m/s,
      LOS rate: -0.826193 deg/s,
      cmd update: -2.478578 deg/s,
      cmd heading: 101.514377 deg,
      new cmd heading: 101.418909 deg.

2021-08-14T14:09:15.182Z,1628950155.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:15.557Z,1628950155.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:15.557Z,1628950155.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:15.557Z,1628950155.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:15.558Z,1628950155.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:15.965Z,1628950155.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,009FB,185,80,80,B2,FF
2021-08-14T14:09:15.965Z,1628950155.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:15.965Z,1628950155.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:15.967Z,1628950155.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:16.368Z,1628950156.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:16.808Z,1628950156.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,149,000,009C4,186,80,80,88,FF
2021-08-14T14:09:16.809Z,1628950156.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:17.213Z,1628950157.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140917.66*54

2021-08-14T14:09:17.244Z,1628950157.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.500008 m, bearing: 85.491087 deg, deltaT: 4.553414 s, approachRate: -0.724730 m/s, LOS rate: -0.158418 deg/s, posRepo size: 4
2021-08-14T14:09:17.246Z,1628950157.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.500008 m,
      bearing: 85.491087 deg,
      approachRate: -0.724730 m/s,
      LOS rate: -0.158418 deg/s,
      cmd update: -0.475254 deg/s,
      cmd heading: 90.188606 deg,
      new cmd heading: 89.375357 deg.

2021-08-14T14:09:19.633Z,1628950159.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:20.005Z,1628950160.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:20.005Z,1628950160.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:20.005Z,1628950160.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:20.006Z,1628950160.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:20.413Z,1628950160.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
149,000,009C4,186,80,80,88,FF
2021-08-14T14:09:20.413Z,1628950160.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:20.413Z,1628950160.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:20.415Z,1628950160.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:20.841Z,1628950160.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:21.229Z,1628950161.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0098F,186,80,80,56,FF
2021-08-14T14:09:21.229Z,1628950161.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:21.666Z,1628950161.666 [Micromodem](INFO): Nmea in: $SNTTA,0.081839,,,,140922.11*47

2021-08-14T14:09:21.693Z,1628950161.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 86.546925 deg, deltaT: 4.354261 s, approachRate: -0.730321 m/s, LOS rate: 0.242484 deg/s, posRepo size: 4
2021-08-14T14:09:21.696Z,1628950161.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 86.546925 deg,
      approachRate: -0.730321 m/s,
      LOS rate: 0.242484 deg/s,
      cmd update: 0.727452 deg/s,
      cmd heading: 88.117407 deg,
      new cmd heading: 87.918459 deg.

2021-08-14T14:09:24.078Z,1628950164.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:24.453Z,1628950164.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:24.453Z,1628950164.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:24.453Z,1628950164.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:24.454Z,1628950164.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:24.857Z,1628950164.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0098F,186,80,80,56,FF
2021-08-14T14:09:24.858Z,1628950164.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:24.858Z,1628950164.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:24.859Z,1628950164.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:25.257Z,1628950165.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:25.661Z,1628950165.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,0095B,184,80,80,AA,FF
2021-08-14T14:09:25.661Z,1628950165.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:26.113Z,1628950166.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140926.56*55

2021-08-14T14:09:26.139Z,1628950166.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.199997 m, bearing: 88.148065 deg, deltaT: 4.404795 s, approachRate: -0.708320 m/s, LOS rate: 0.363499 deg/s, posRepo size: 4
2021-08-14T14:09:26.141Z,1628950166.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.199997 m,
      bearing: 88.148065 deg,
      approachRate: -0.708320 m/s,
      LOS rate: 0.363499 deg/s,
      cmd update: 1.090498 deg/s,
      cmd heading: 91.321797 deg,
      new cmd heading: 91.656838 deg.

2021-08-14T14:09:28.523Z,1628950168.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:28.885Z,1628950168.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:28.885Z,1628950168.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:28.885Z,1628950168.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:28.886Z,1628950168.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:29.297Z,1628950169.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,0095B,184,80,80,AA,FF
2021-08-14T14:09:29.297Z,1628950169.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:29.297Z,1628950169.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:29.299Z,1628950169.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:29.705Z,1628950169.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:30.113Z,1628950170.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,00925,185,80,80,A6,FF
2021-08-14T14:09:30.113Z,1628950170.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:30.550Z,1628950170.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140931.00*50

2021-08-14T14:09:30.641Z,1628950170.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.959999 m, bearing: 88.389895 deg, deltaT: 4.502622 s, approachRate: -0.719580 m/s, LOS rate: 0.053709 deg/s, posRepo size: 4
2021-08-14T14:09:30.649Z,1628950170.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.959999 m,
      bearing: 88.389895 deg,
      approachRate: -0.719580 m/s,
      LOS rate: 0.053709 deg/s,
      cmd update: 0.161126 deg/s,
      cmd heading: 96.230743 deg,
      new cmd heading: 96.727378 deg.

2021-08-14T14:09:32.997Z,1628950172.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:33.333Z,1628950173.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:33.333Z,1628950173.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:33.333Z,1628950173.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:33.334Z,1628950173.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:33.734Z,1628950173.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,00925,185,80,80,A6,FF
2021-08-14T14:09:33.734Z,1628950173.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:33.734Z,1628950173.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:33.761Z,1628950173.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:34.163Z,1628950174.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:34.547Z,1628950174.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,006FD,185,80,80,AC,FF
2021-08-14T14:09:34.573Z,1628950174.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:34.981Z,1628950174.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140935.46*56

2021-08-14T14:09:35.050Z,1628950175.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 87.465394 deg, deltaT: 4.466264 s, approachRate: -7.415593 m/s, LOS rate: -0.206996 deg/s, posRepo size: 4
2021-08-14T14:09:35.057Z,1628950175.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.840004 m,
      bearing: 87.465394 deg,
      approachRate: -7.415593 m/s,
      LOS rate: -0.206996 deg/s,
      cmd update: -0.620989 deg/s,
      cmd heading: 96.950452 deg,
      new cmd heading: 97.015469 deg.

2021-08-14T14:09:37.399Z,1628950177.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:37.801Z,1628950177.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:37.801Z,1628950177.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:37.801Z,1628950177.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:37.802Z,1628950177.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:38.185Z,1628950178.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,006FD,185,80,80,AC,FF
2021-08-14T14:09:38.185Z,1628950178.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:38.185Z,1628950178.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:38.187Z,1628950178.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:38.631Z,1628950178.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:38.997Z,1628950178.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,008B9,186,80,80,A4,FF
2021-08-14T14:09:38.997Z,1628950178.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:39.433Z,1628950179.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140939.88*58

2021-08-14T14:09:39.468Z,1628950179.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 85.827973 deg, deltaT: 4.401452 s, approachRate: 6.052546 m/s, LOS rate: -0.372019 deg/s, posRepo size: 4
2021-08-14T14:09:39.470Z,1628950179.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 85.827973 deg,
      approachRate: 6.052546 m/s,
      LOS rate: -0.372019 deg/s,
      cmd update: -1.116056 deg/s,
      cmd heading: 94.219545 deg,
      new cmd heading: 93.956787 deg.

2021-08-14T14:09:41.882Z,1628950181.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:42.229Z,1628950182.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:42.230Z,1628950182.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:42.230Z,1628950182.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:42.231Z,1628950182.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:42.665Z,1628950182.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,008B9,186,80,80,A4,FF
2021-08-14T14:09:42.665Z,1628950182.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:42.665Z,1628950182.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:42.667Z,1628950182.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:43.137Z,1628950183.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:43.526Z,1628950183.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00882,186,80,80,B5,FF
2021-08-14T14:09:43.526Z,1628950183.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:43.945Z,1628950183.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140944.36*57

2021-08-14T14:09:44.002Z,1628950184.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 86.631708 deg, deltaT: 4.498638 s, approachRate: -0.733554 m/s, LOS rate: 0.178662 deg/s, posRepo size: 4
2021-08-14T14:09:44.008Z,1628950184.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.180000 m,
      bearing: 86.631708 deg,
      approachRate: -0.733554 m/s,
      LOS rate: 0.178662 deg/s,
      cmd update: 0.535986 deg/s,
      cmd heading: 89.193961 deg,
      new cmd heading: 88.687065 deg.

2021-08-14T14:09:46.393Z,1628950186.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:46.769Z,1628950186.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:46.769Z,1628950186.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:46.770Z,1628950186.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:46.771Z,1628950186.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:47.199Z,1628950187.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00882,186,80,80,B5,FF
2021-08-14T14:09:47.199Z,1628950187.199 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:47.199Z,1628950187.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:47.229Z,1628950187.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:47.589Z,1628950187.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:47.998Z,1628950187.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00859,186,80,80,97,FF
2021-08-14T14:09:47.998Z,1628950187.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:48.427Z,1628950188.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140948.92*55

2021-08-14T14:09:48.457Z,1628950188.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.720001 m, bearing: 87.061956 deg, deltaT: 4.515563 s, approachRate: -0.544782 m/s, LOS rate: 0.095281 deg/s, posRepo size: 4
2021-08-14T14:09:48.459Z,1628950188.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.720001 m,
      bearing: 87.061956 deg,
      approachRate: -0.544782 m/s,
      LOS rate: 0.095281 deg/s,
      cmd update: 0.285843 deg/s,
      cmd heading: 91.612032 deg,
      new cmd heading: 91.823100 deg.

2021-08-14T14:09:50.911Z,1628950190.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:51.225Z,1628950191.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:51.225Z,1628950191.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:51.225Z,1628950191.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:51.226Z,1628950191.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:51.625Z,1628950191.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,00859,186,80,80,97,FF
2021-08-14T14:09:51.625Z,1628950191.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:51.625Z,1628950191.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:51.627Z,1628950191.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:52.032Z,1628950192.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:52.433Z,1628950192.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00824,186,80,80,A3,FF
2021-08-14T14:09:52.434Z,1628950192.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:52.869Z,1628950192.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140953.32*55

2021-08-14T14:09:52.952Z,1628950192.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.540001 m, bearing: 86.545546 deg, deltaT: 4.388686 s, approachRate: -0.724591 m/s, LOS rate: -0.117668 deg/s, posRepo size: 4
2021-08-14T14:09:52.954Z,1628950192.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.540001 m,
      bearing: 86.545546 deg,
      approachRate: -0.724591 m/s,
      LOS rate: -0.117668 deg/s,
      cmd update: -0.353005 deg/s,
      cmd heading: 92.867678 deg,
      new cmd heading: 93.006130 deg.

2021-08-14T14:09:55.285Z,1628950195.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:09:55.665Z,1628950195.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:09:55.665Z,1628950195.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:09:55.665Z,1628950195.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:09:55.666Z,1628950195.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:09:56.069Z,1628950196.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00824,186,80,80,A3,FF
2021-08-14T14:09:56.069Z,1628950196.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:09:56.069Z,1628950196.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:09:56.071Z,1628950196.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:09:56.481Z,1628950196.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:09:56.885Z,1628950196.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,007EC,187,80,80,B3,FF
2021-08-14T14:09:56.885Z,1628950196.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:09:57.317Z,1628950197.317 [Micromodem](INFO): Nmea in: $SNTTA,0.067569,,,,140957.77*45

2021-08-14T14:09:57.336Z,1628950197.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.180000 m, bearing: 86.330401 deg, deltaT: 4.528283 s, approachRate: -0.742003 m/s, LOS rate: -0.047511 deg/s, posRepo size: 4
2021-08-14T14:09:57.338Z,1628950197.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.180000 m,
      bearing: 86.330401 deg,
      approachRate: -0.742003 m/s,
      LOS rate: -0.047511 deg/s,
      cmd update: -0.142534 deg/s,
      cmd heading: 91.270593 deg,
      new cmd heading: 91.143533 deg.

2021-08-14T14:09:58.116Z,1628950198.116 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:09:58.171Z,1628950198.171 [CTD_Seabird](ERROR): Failed to parse device response: 6.41,24.02994,4771.33
2021-08-14T14:09:59.789Z,1628950199.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:00.102Z,1628950200.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:00.102Z,1628950200.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:00.103Z,1628950200.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:00.103Z,1628950200.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:00.521Z,1628950200.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,007EC,187,80,80,B3,FF
2021-08-14T14:10:00.521Z,1628950200.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:00.521Z,1628950200.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:00.523Z,1628950200.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:00.931Z,1628950200.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:01.321Z,1628950201.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,007B6,186,80,80,B4,FF
2021-08-14T14:10:01.322Z,1628950201.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:01.789Z,1628950201.789 [Micromodem](INFO): Nmea in: $SNTTA,0.073041,,,,141002.22*47

2021-08-14T14:10:01.843Z,1628950201.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.940002 m, bearing: 86.497222 deg, deltaT: 4.383083 s, approachRate: -0.739205 m/s, LOS rate: 0.038060 deg/s, posRepo size: 4
2021-08-14T14:10:01.850Z,1628950201.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.940002 m,
      bearing: 86.497222 deg,
      approachRate: -0.739205 m/s,
      LOS rate: 0.038060 deg/s,
      cmd update: 0.114180 deg/s,
      cmd heading: 90.645281 deg,
      new cmd heading: 90.576840 deg.

2021-08-14T14:10:04.236Z,1628950204.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:04.557Z,1628950204.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:04.557Z,1628950204.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:04.557Z,1628950204.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:04.558Z,1628950204.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:04.965Z,1628950204.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,007B6,186,80,80,B4,FF
2021-08-14T14:10:04.965Z,1628950204.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:04.965Z,1628950204.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:04.967Z,1628950204.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:05.361Z,1628950205.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:05.785Z,1628950205.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00787,184,80,80,B3,FF
2021-08-14T14:10:05.786Z,1628950205.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:06.205Z,1628950206.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141006.67*5D

2021-08-14T14:10:06.247Z,1628950206.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 87.427371 deg, deltaT: 4.492134 s, approachRate: -0.627766 m/s, LOS rate: 0.207062 deg/s, posRepo size: 4
2021-08-14T14:10:06.254Z,1628950206.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.119995 m,
      bearing: 87.427371 deg,
      approachRate: -0.627766 m/s,
      LOS rate: 0.207062 deg/s,
      cmd update: 0.621185 deg/s,
      cmd heading: 91.157649 deg,
      new cmd heading: 91.202979 deg.

2021-08-14T14:10:08.658Z,1628950208.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:08.997Z,1628950208.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:08.997Z,1628950208.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:08.997Z,1628950208.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:08.998Z,1628950208.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:09.409Z,1628950209.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00787,184,80,80,B3,FF
2021-08-14T14:10:09.410Z,1628950209.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:09.410Z,1628950209.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:09.412Z,1628950209.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:09.837Z,1628950209.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:10.213Z,1628950210.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00753,184,80,80,AF,FF
2021-08-14T14:10:10.213Z,1628950210.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:10.677Z,1628950210.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141011.11*5A

2021-08-14T14:10:10.791Z,1628950210.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.000008 m, bearing: 86.905544 deg, deltaT: 4.399541 s, approachRate: -0.709162 m/s, LOS rate: -0.118609 deg/s, posRepo size: 4
2021-08-14T14:10:10.797Z,1628950210.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.000008 m,
      bearing: 86.905544 deg,
      approachRate: -0.709162 m/s,
      LOS rate: -0.118609 deg/s,
      cmd update: -0.355828 deg/s,
      cmd heading: 93.880823 deg,
      new cmd heading: 94.226385 deg.

2021-08-14T14:10:13.083Z,1628950213.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:13.441Z,1628950213.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:13.441Z,1628950213.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:13.441Z,1628950213.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:13.442Z,1628950213.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:13.845Z,1628950213.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00753,184,80,80,AF,FF
2021-08-14T14:10:13.845Z,1628950213.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:13.845Z,1628950213.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:13.847Z,1628950213.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:14.271Z,1628950214.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:14.681Z,1628950214.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,0071A,186,80,80,6A,FF
2021-08-14T14:10:14.681Z,1628950214.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:15.101Z,1628950215.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141015.55*5E

2021-08-14T14:10:15.139Z,1628950215.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.580002 m, bearing: 84.838046 deg, deltaT: 4.465239 s, approachRate: -0.765918 m/s, LOS rate: -0.463021 deg/s, posRepo size: 4
2021-08-14T14:10:15.141Z,1628950215.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.580002 m,
      bearing: 84.838046 deg,
      approachRate: -0.765918 m/s,
      LOS rate: -0.463021 deg/s,
      cmd update: -1.389062 deg/s,
      cmd heading: 92.285367 deg,
      new cmd heading: 92.135561 deg.

2021-08-14T14:10:17.503Z,1628950217.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:17.890Z,1628950217.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:17.890Z,1628950217.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:17.890Z,1628950217.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:17.891Z,1628950217.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:18.309Z,1628950218.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,0071A,186,80,80,6A,FF
2021-08-14T14:10:18.309Z,1628950218.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:18.309Z,1628950218.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:18.311Z,1628950218.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:18.701Z,1628950218.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:19.097Z,1628950219.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,006E9,186,80,80,6F,FF
2021-08-14T14:10:19.098Z,1628950219.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:19.524Z,1628950219.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141020.01*59

2021-08-14T14:10:19.557Z,1628950219.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.639999 m, bearing: 85.637219 deg, deltaT: 4.422131 s, approachRate: -0.664838 m/s, LOS rate: 0.180721 deg/s, posRepo size: 4
2021-08-14T14:10:19.559Z,1628950219.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.639999 m,
      bearing: 85.637219 deg,
      approachRate: -0.664838 m/s,
      LOS rate: 0.180721 deg/s,
      cmd update: 0.542164 deg/s,
      cmd heading: 86.145560 deg,
      new cmd heading: 85.564051 deg.

2021-08-14T14:10:21.986Z,1628950221.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:22.336Z,1628950222.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:22.336Z,1628950222.336 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:22.336Z,1628950222.336 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:22.337Z,1628950222.337 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:22.734Z,1628950222.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,006E9,186,80,80,6F,FF
2021-08-14T14:10:22.734Z,1628950222.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:22.734Z,1628950222.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:22.759Z,1628950222.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:23.140Z,1628950223.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:23.546Z,1628950223.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,006B1,184,80,80,AE,FF
2021-08-14T14:10:23.546Z,1628950223.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:23.970Z,1628950223.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141024.46*5E

2021-08-14T14:10:23.995Z,1628950223.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 87.112868 deg, deltaT: 4.425181 s, approachRate: -0.759289 m/s, LOS rate: 0.333466 deg/s, posRepo size: 4
2021-08-14T14:10:23.998Z,1628950223.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 87.112868 deg,
      approachRate: -0.759289 m/s,
      LOS rate: 0.333466 deg/s,
      cmd update: 1.000399 deg/s,
      cmd heading: 88.546908 deg,
      new cmd heading: 88.778935 deg.

2021-08-14T14:10:26.402Z,1628950226.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:26.800Z,1628950226.800 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:26.800Z,1628950226.800 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:26.801Z,1628950226.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:26.802Z,1628950226.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:27.181Z,1628950227.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,006B1,184,80,80,AE,FF
2021-08-14T14:10:27.181Z,1628950227.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:27.181Z,1628950227.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:27.183Z,1628950227.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:27.595Z,1628950227.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:27.982Z,1628950227.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,0067A,184,80,80,6C,FF
2021-08-14T14:10:27.983Z,1628950227.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:28.426Z,1628950228.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141028.88*50

2021-08-14T14:10:28.442Z,1628950228.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 85.301597 deg, deltaT: 4.478913 s, approachRate: -0.736786 m/s, LOS rate: -0.404400 deg/s, posRepo size: 4
2021-08-14T14:10:28.444Z,1628950228.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 85.301597 deg,
      approachRate: -0.736786 m/s,
      LOS rate: -0.404400 deg/s,
      cmd update: -1.213199 deg/s,
      cmd heading: 93.027419 deg,
      new cmd heading: 93.423219 deg.

2021-08-14T14:10:30.906Z,1628950230.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:31.217Z,1628950231.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:31.217Z,1628950231.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:31.217Z,1628950231.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:31.218Z,1628950231.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:31.617Z,1628950231.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,0067A,184,80,80,6C,FF
2021-08-14T14:10:31.617Z,1628950231.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:31.618Z,1628950231.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:31.619Z,1628950231.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:32.029Z,1628950232.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:32.842Z,1628950232.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00EF3,186,80,80,98,FF
2021-08-14T14:10:32.842Z,1628950232.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:32.845Z,1628950232.845 [Micromodem](INFO): Nmea in: $SNTTA,0.150185,0.426339,,,141033.32*5A

2021-08-14T14:10:33.284Z,1628950233.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.119995 m, bearing: 85.958832 deg, deltaT: 4.869711 s, approachRate: 26.724375 m/s, LOS rate: 0.134964 deg/s, posRepo size: 4
2021-08-14T14:10:33.286Z,1628950233.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.119995 m,
      bearing: 85.958832 deg,
      approachRate: 26.724375 m/s,
      LOS rate: 0.134964 deg/s,
      cmd update: 0.404892 deg/s,
      cmd heading: 87.120112 deg,
      new cmd heading: 86.673112 deg.

2021-08-14T14:10:35.687Z,1628950235.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:36.073Z,1628950236.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:36.073Z,1628950236.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:36.073Z,1628950236.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:36.074Z,1628950236.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:36.481Z,1628950236.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,00EF3,186,80,80,98,FF
2021-08-14T14:10:36.481Z,1628950236.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:36.481Z,1628950236.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:36.483Z,1628950236.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:36.881Z,1628950236.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:37.293Z,1628950237.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00614,185,80,80,6C,FF
2021-08-14T14:10:37.293Z,1628950237.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:37.715Z,1628950237.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 86.809252 deg, deltaT: 4.394223 s, approachRate: -31.008894 m/s, LOS rate: 0.193531 deg/s, posRepo size: 4
2021-08-14T14:10:37.718Z,1628950237.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.859997 m,
      bearing: 86.809252 deg,
      approachRate: -31.008894 m/s,
      LOS rate: 0.193531 deg/s,
      cmd update: 0.580594 deg/s,
      cmd heading: 88.899597 deg,
      new cmd heading: 89.063619 deg.

2021-08-14T14:10:40.134Z,1628950240.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:40.525Z,1628950240.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:40.525Z,1628950240.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:40.525Z,1628950240.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:40.526Z,1628950240.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:40.921Z,1628950240.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00614,185,80,80,6C,FF
2021-08-14T14:10:40.921Z,1628950240.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:40.921Z,1628950240.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:40.923Z,1628950240.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:41.424Z,1628950241.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:41.829Z,1628950241.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,005E5,184,80,80,9B,FF
2021-08-14T14:10:41.829Z,1628950241.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:42.233Z,1628950242.233 [Micromodem](INFO): Nmea in: $SNTTA,0.070998,,,,141042.62*49

2021-08-14T14:10:42.266Z,1628950242.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 86.426441 deg, deltaT: 4.589381 s, approachRate: -0.614461 m/s, LOS rate: -0.083412 deg/s, posRepo size: 4
2021-08-14T14:10:42.267Z,1628950242.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.040001 m,
      bearing: 86.426441 deg,
      approachRate: -0.614461 m/s,
      LOS rate: -0.083412 deg/s,
      cmd update: -0.250237 deg/s,
      cmd heading: 91.557929 deg,
      new cmd heading: 91.776317 deg.

2021-08-14T14:10:44.784Z,1628950244.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:45.052Z,1628950245.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:45.052Z,1628950245.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:45.052Z,1628950245.052 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:45.053Z,1628950245.053 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:45.470Z,1628950245.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,005E5,184,80,80,9B,FF
2021-08-14T14:10:45.470Z,1628950245.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:45.470Z,1628950245.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:45.472Z,1628950245.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:45.857Z,1628950245.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:46.255Z,1628950246.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,005B6,184,80,80,5C,FF
2021-08-14T14:10:46.255Z,1628950246.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:46.709Z,1628950246.709 [Micromodem](INFO): Nmea in: $SNTTA,,0.457543,,,141047.17*45

2021-08-14T14:10:46.807Z,1628950246.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.219994 m, bearing: 85.766207 deg, deltaT: 4.376081 s, approachRate: -0.644414 m/s, LOS rate: -0.150873 deg/s, posRepo size: 4
2021-08-14T14:10:46.809Z,1628950246.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.219994 m,
      bearing: 85.766207 deg,
      approachRate: -0.644414 m/s,
      LOS rate: -0.150873 deg/s,
      cmd update: -0.452620 deg/s,
      cmd heading: 90.460232 deg,
      new cmd heading: 90.327243 deg.

2021-08-14T14:10:48.822Z,1628950248.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:49.092Z,1628950249.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:49.092Z,1628950249.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:49.093Z,1628950249.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:49.093Z,1628950249.093 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:49.501Z,1628950249.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,005B6,184,80,80,5C,FF
2021-08-14T14:10:49.501Z,1628950249.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:49.502Z,1628950249.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:49.503Z,1628950249.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:49.899Z,1628950249.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:50.734Z,1628950250.734 [Micromodem](INFO): Nmea in: $SNTTA,0.485934,0.485947,,,141051.20*58

2021-08-14T14:10:51.511Z,1628950251.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,036E9,186,80,80,95,FF
2021-08-14T14:10:51.511Z,1628950251.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:51.974Z,1628950251.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 805.920044 m, bearing: 83.984969 deg, deltaT: 5.273558 s, approachRate: 143.299850 m/s, LOS rate: -0.337768 deg/s, posRepo size: 4
2021-08-14T14:10:51.977Z,1628950251.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 805.920044 m,
      bearing: 83.984969 deg,
      approachRate: 143.299850 m/s,
      LOS rate: -0.337768 deg/s,
      cmd update: -1.013303 deg/s,
      cmd heading: 88.082468 deg,
      new cmd heading: 87.880845 deg.

2021-08-14T14:10:54.387Z,1628950254.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:54.758Z,1628950254.758 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:54.758Z,1628950254.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:54.759Z,1628950254.759 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:54.760Z,1628950254.760 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:55.154Z,1628950255.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,036E9,186,80,80,95,FF
2021-08-14T14:10:55.154Z,1628950255.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:55.154Z,1628950255.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:55.156Z,1628950255.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:10:55.555Z,1628950255.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:10:55.962Z,1628950255.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,0053F,186,80,80,72,FF
2021-08-14T14:10:55.962Z,1628950255.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:10:56.393Z,1628950256.393 [Micromodem](INFO): Nmea in: $SNTTA,0.043721,,,,141056.86*4A

2021-08-14T14:10:56.444Z,1628950256.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.080002 m, bearing: 84.064432 deg, deltaT: 4.468119 s, approachRate: -170.729568 m/s, LOS rate: 0.017784 deg/s, posRepo size: 4
2021-08-14T14:10:56.446Z,1628950256.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 84.064432 deg,
      approachRate: -170.729568 m/s,
      LOS rate: 0.017784 deg/s,
      cmd update: 0.053353 deg/s,
      cmd heading: 83.538295 deg,
      new cmd heading: 83.106379 deg.

2021-08-14T14:10:58.883Z,1628950258.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:10:59.193Z,1628950259.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:10:59.193Z,1628950259.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:10:59.193Z,1628950259.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:10:59.194Z,1628950259.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:10:59.595Z,1628950259.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,0053F,186,80,80,72,FF
2021-08-14T14:10:59.595Z,1628950259.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:10:59.595Z,1628950259.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:10:59.597Z,1628950259.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:00.014Z,1628950260.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:00.397Z,1628950260.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,0050B,184,80,80,A3,FF
2021-08-14T14:11:00.397Z,1628950260.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:00.865Z,1628950260.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141101.30*59

2021-08-14T14:11:00.926Z,1628950260.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 85.808923 deg, deltaT: 4.422446 s, approachRate: -0.705493 m/s, LOS rate: 0.394463 deg/s, posRepo size: 4
2021-08-14T14:11:00.927Z,1628950260.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-08-14T14:11:00.929Z,1628950260.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.959999 m,
      bearing: 85.808923 deg,
      approachRate: -0.705493 m/s,
      LOS rate: 0.394463 deg/s,
      cmd update: 1.183389 deg/s,
      cmd heading: 83.773172 deg,
      new cmd heading: 83.800416 deg.

2021-08-14T14:11:01.250Z,1628950261.250 [PowerOnly](INFO): Powering up loadControl
2021-08-14T14:11:01.293Z,1628950261.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:11:01.294Z,1628950261.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:11:01.294Z,1628950261.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:11:01.295Z,1628950261.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:11:01.295Z,1628950261.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:11:01.295Z,1628950261.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:11:01.674Z,1628950261.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:11:01.674Z,1628950261.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:11:01.674Z,1628950261.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:11:01.674Z,1628950261.674 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:11:02.946Z,1628950262.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:03.235Z,1628950263.235 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:03.236Z,1628950263.236 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:03.237Z,1628950263.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:03.238Z,1628950263.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:03.633Z,1628950263.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,0050B,184,80,80,A3,FF
2021-08-14T14:11:03.633Z,1628950263.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:03.633Z,1628950263.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:03.635Z,1628950263.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:04.050Z,1628950264.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:04.452Z,1628950264.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,004DA,183,80,80,49,FF
2021-08-14T14:11:04.453Z,1628950264.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:04.474Z,1628950264.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:04.885Z,1628950264.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141105.33*5E

2021-08-14T14:11:04.972Z,1628950264.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 86.091516 deg, deltaT: 4.031100 s, approachRate: -0.729330 m/s, LOS rate: 0.070103 deg/s, posRepo size: 4
2021-08-14T14:11:04.973Z,1628950264.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.02 m.
2021-08-14T14:11:04.975Z,1628950264.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.019997 m,
      bearing: 86.091516 deg,
      approachRate: -0.729330 m/s,
      LOS rate: 0.070103 deg/s,
      cmd update: 0.210309 deg/s,
      cmd heading: 88.570841 deg,
      new cmd heading: 89.150545 deg.

2021-08-14T14:11:07.305Z,1628950267.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:07.669Z,1628950267.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:07.669Z,1628950267.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:07.669Z,1628950267.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:07.670Z,1628950267.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:08.074Z,1628950268.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,004DA,183,80,80,49,FF
2021-08-14T14:11:08.074Z,1628950268.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:08.075Z,1628950268.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:08.077Z,1628950268.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:08.493Z,1628950268.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:08.882Z,1628950268.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,004A9,183,80,80,69,FF
2021-08-14T14:11:08.883Z,1628950268.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:08.985Z,1628950268.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:09.330Z,1628950269.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141109.77*52

2021-08-14T14:11:09.353Z,1628950269.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 88.159813 deg, deltaT: 4.511124 s, approachRate: -0.651722 m/s, LOS rate: 0.458488 deg/s, posRepo size: 4
2021-08-14T14:11:09.353Z,1628950269.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.08 m.
2021-08-14T14:11:09.355Z,1628950269.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.079998 m,
      bearing: 88.159813 deg,
      approachRate: -0.651722 m/s,
      LOS rate: 0.458488 deg/s,
      cmd update: 1.375465 deg/s,
      cmd heading: 89.519689 deg,
      new cmd heading: 89.597571 deg.

2021-08-14T14:11:11.782Z,1628950271.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:12.122Z,1628950272.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:12.122Z,1628950272.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:12.122Z,1628950272.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:12.124Z,1628950272.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:12.529Z,1628950272.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,004A9,183,80,80,69,FF
2021-08-14T14:11:12.529Z,1628950272.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:12.530Z,1628950272.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:12.531Z,1628950272.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:12.933Z,1628950272.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:13.326Z,1628950273.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00479,185,80,80,70,FF
2021-08-14T14:11:13.326Z,1628950273.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:13.351Z,1628950273.351 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:13.793Z,1628950273.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141114.23*5F

2021-08-14T14:11:13.850Z,1628950273.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 86.572764 deg, deltaT: 4.366134 s, approachRate: -0.659622 m/s, LOS rate: -0.363491 deg/s, posRepo size: 4
2021-08-14T14:11:13.851Z,1628950273.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2021-08-14T14:11:13.864Z,1628950273.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 86.572764 deg,
      approachRate: -0.659622 m/s,
      LOS rate: -0.363491 deg/s,
      cmd update: -1.090472 deg/s,
      cmd heading: 95.525180 deg,
      new cmd heading: 96.216347 deg.

2021-08-14T14:11:16.212Z,1628950276.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:16.572Z,1628950276.572 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:16.573Z,1628950276.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:16.573Z,1628950276.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:16.575Z,1628950276.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:16.965Z,1628950276.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,00479,185,80,80,70,FF
2021-08-14T14:11:16.965Z,1628950276.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:16.965Z,1628950276.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:16.967Z,1628950276.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:17.373Z,1628950277.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:17.802Z,1628950277.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00449,186,80,80,62,FF
2021-08-14T14:11:17.802Z,1628950277.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:17.896Z,1628950277.896 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:18.213Z,1628950278.213 [Micromodem](INFO): Nmea in: $SNTTA,0.132409,,,,141118.67*40

2021-08-14T14:11:18.262Z,1628950278.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 83.034343 deg, deltaT: 4.545294 s, approachRate: -0.633623 m/s, LOS rate: -0.778480 deg/s, posRepo size: 4
2021-08-14T14:11:18.262Z,1628950278.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.32 m.
2021-08-14T14:11:18.263Z,1628950278.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.32 m.
2021-08-14T14:11:18.263Z,1628950278.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T14:11:18.269Z,1628950278.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 83.034343 deg,
      approachRate: -0.633623 m/s,
      LOS rate: -0.778480 deg/s,
      cmd update: -2.335440 deg/s,
      cmd heading: 90.578293 deg,
      new cmd heading: 90.166700 deg.

2021-08-14T14:11:20.690Z,1628950280.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:21.005Z,1628950281.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:21.005Z,1628950281.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:21.005Z,1628950281.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:21.006Z,1628950281.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:21.417Z,1628950281.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00449,186,80,80,62,FF
2021-08-14T14:11:21.417Z,1628950281.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:21.417Z,1628950281.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:21.419Z,1628950281.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:21.829Z,1628950281.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:22.232Z,1628950282.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,00419,186,80,80,8F,FF
2021-08-14T14:11:22.233Z,1628950282.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:22.258Z,1628950282.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:22.694Z,1628950282.694 [Micromodem](INFO): Nmea in: $SNTTA,0.047047,,,,141123.12*47

2021-08-14T14:11:22.829Z,1628950282.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 82.419654 deg, deltaT: 4.361369 s, approachRate: -0.660343 m/s, LOS rate: -0.140940 deg/s, posRepo size: 4
2021-08-14T14:11:22.831Z,1628950282.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.440001 m,
      bearing: 82.419654 deg,
      approachRate: -0.660343 m/s,
      LOS rate: -0.140940 deg/s,
      cmd update: -0.422819 deg/s,
      cmd heading: 80.371650 deg,
      new cmd heading: 79.030462 deg.

2021-08-14T14:11:24.774Z,1628950284.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:25.047Z,1628950285.047 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:25.047Z,1628950285.047 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:25.048Z,1628950285.048 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:25.049Z,1628950285.049 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:25.449Z,1628950285.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,00419,186,80,80,8F,FF
2021-08-14T14:11:25.449Z,1628950285.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:25.450Z,1628950285.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:25.451Z,1628950285.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:25.856Z,1628950285.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:26.261Z,1628950286.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,003EC,184,80,80,6C,FF
2021-08-14T14:11:26.262Z,1628950286.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:26.282Z,1628950286.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:26.710Z,1628950286.710 [Micromodem](INFO): Nmea in: $SNTTA,0.040503,,,,141127.15*46

2021-08-14T14:11:26.840Z,1628950286.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 82.277593 deg, deltaT: 4.024404 s, approachRate: -0.670907 m/s, LOS rate: -0.035300 deg/s, posRepo size: 4
2021-08-14T14:11:26.842Z,1628950286.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.740000 m,
      bearing: 82.277593 deg,
      approachRate: -0.670907 m/s,
      LOS rate: -0.035300 deg/s,
      cmd update: -0.105900 deg/s,
      cmd heading: 78.670062 deg,
      new cmd heading: 78.434488 deg.

2021-08-14T14:11:28.806Z,1628950288.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:29.104Z,1628950289.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:29.104Z,1628950289.104 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:29.105Z,1628950289.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:29.106Z,1628950289.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:29.501Z,1628950289.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,003EC,184,80,80,6C,FF
2021-08-14T14:11:29.501Z,1628950289.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:29.501Z,1628950289.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:29.503Z,1628950289.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:29.893Z,1628950289.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:30.294Z,1628950290.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,003C0,184,80,80,70,FF
2021-08-14T14:11:30.294Z,1628950290.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:30.351Z,1628950290.351 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:30.749Z,1628950290.749 [Micromodem](INFO): Nmea in: $SNTTA,,0.445666,,,141131.20*46

2021-08-14T14:11:30.865Z,1628950290.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 82.173541 deg, deltaT: 4.068672 s, approachRate: -0.648860 m/s, LOS rate: -0.025574 deg/s, posRepo size: 4
2021-08-14T14:11:30.867Z,1628950290.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.100002 m,
      bearing: 82.173541 deg,
      approachRate: -0.648860 m/s,
      LOS rate: -0.025574 deg/s,
      cmd update: -0.076721 deg/s,
      cmd heading: 78.240043 deg,
      new cmd heading: 78.184409 deg.

2021-08-14T14:11:33.151Z,1628950293.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:33.533Z,1628950293.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:33.534Z,1628950293.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:33.534Z,1628950293.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:33.535Z,1628950293.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:33.941Z,1628950293.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,003C0,184,80,80,70,FF
2021-08-14T14:11:33.941Z,1628950293.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:33.941Z,1628950293.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:33.943Z,1628950293.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:34.341Z,1628950294.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:34.738Z,1628950294.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,0038D,187,80,80,85,FF
2021-08-14T14:11:34.738Z,1628950294.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:34.883Z,1628950294.883 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:35.185Z,1628950295.185 [Micromodem](INFO): Nmea in: $SNTTA,0.011214,,,,141135.64*46

2021-08-14T14:11:35.219Z,1628950295.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 82.946050 deg, deltaT: 4.532301 s, approachRate: -0.675154 m/s, LOS rate: 0.170445 deg/s, posRepo size: 4
2021-08-14T14:11:35.221Z,1628950295.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 82.946050 deg,
      approachRate: -0.675154 m/s,
      LOS rate: 0.170445 deg/s,
      cmd update: 0.511335 deg/s,
      cmd heading: 77.892640 deg,
      new cmd heading: 77.865668 deg.

2021-08-14T14:11:37.604Z,1628950297.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:37.973Z,1628950297.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:37.973Z,1628950297.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:37.973Z,1628950297.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:37.974Z,1628950297.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:38.381Z,1628950298.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,0038D,187,80,80,85,FF
2021-08-14T14:11:38.382Z,1628950298.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:38.382Z,1628950298.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:38.384Z,1628950298.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:38.809Z,1628950298.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:39.191Z,1628950299.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,00372,184,80,80,84,FF
2021-08-14T14:11:39.191Z,1628950299.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:39.212Z,1628950299.212 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:39.625Z,1628950299.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141140.08*57

2021-08-14T14:11:39.647Z,1628950299.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 80.680059 deg, deltaT: 4.328928 s, approachRate: -0.374226 m/s, LOS rate: -0.523453 deg/s, posRepo size: 4
2021-08-14T14:11:39.666Z,1628950299.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 80.680059 deg,
      approachRate: -0.374226 m/s,
      LOS rate: -0.523453 deg/s,
      cmd update: -1.570359 deg/s,
      cmd heading: 80.112289 deg,
      new cmd heading: 80.336674 deg.

2021-08-14T14:11:42.074Z,1628950302.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:42.417Z,1628950302.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:42.417Z,1628950302.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:42.417Z,1628950302.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:42.418Z,1628950302.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:42.837Z,1628950302.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,00372,184,80,80,84,FF
2021-08-14T14:11:42.837Z,1628950302.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:42.837Z,1628950302.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:42.839Z,1628950302.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:43.232Z,1628950303.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:43.629Z,1628950303.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,0032E,185,80,80,5A,FF
2021-08-14T14:11:43.630Z,1628950303.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:43.666Z,1628950303.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:44.069Z,1628950304.069 [Micromodem](INFO): Nmea in: $SNTTA,0.052464,,,,141144.54*45

2021-08-14T14:11:44.128Z,1628950304.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 81.865288 deg, deltaT: 4.454196 s, approachRate: -0.915991 m/s, LOS rate: 0.266093 deg/s, posRepo size: 4
2021-08-14T14:11:44.130Z,1628950304.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 81.865288 deg,
      approachRate: -0.915991 m/s,
      LOS rate: 0.266093 deg/s,
      cmd update: 0.798278 deg/s,
      cmd heading: 73.123629 deg,
      new cmd heading: 72.431495 deg.

2021-08-14T14:11:44.879Z,1628950304.879 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:11:46.486Z,1628950306.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:46.869Z,1628950306.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:46.869Z,1628950306.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:46.869Z,1628950306.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:46.870Z,1628950306.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:47.265Z,1628950307.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,0032E,185,80,80,5A,FF
2021-08-14T14:11:47.265Z,1628950307.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:47.265Z,1628950307.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:47.267Z,1628950307.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:47.692Z,1628950307.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:48.077Z,1628950308.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00304,186,80,80,A7,FF
2021-08-14T14:11:48.078Z,1628950308.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:48.171Z,1628950308.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:48.522Z,1628950308.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141148.97*59

2021-08-14T14:11:48.548Z,1628950308.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 88.732074 deg, deltaT: 4.504380 s, approachRate: -0.559455 m/s, LOS rate: 1.524468 deg/s, posRepo size: 4
2021-08-14T14:11:48.550Z,1628950308.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 88.732074 deg,
      approachRate: -0.559455 m/s,
      LOS rate: 1.524468 deg/s,
      cmd update: 4.573405 deg/s,
      cmd heading: 76.722647 deg,
      new cmd heading: 77.026447 deg.

2021-08-14T14:11:50.980Z,1628950310.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:51.309Z,1628950311.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:51.309Z,1628950311.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:51.309Z,1628950311.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:51.310Z,1628950311.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:51.717Z,1628950311.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00304,186,80,80,A7,FF
2021-08-14T14:11:51.718Z,1628950311.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:51.718Z,1628950311.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:51.721Z,1628950311.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:52.129Z,1628950312.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:52.521Z,1628950312.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF9,000,002F1,186,80,80,B6,FF
2021-08-14T14:11:52.521Z,1628950312.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:52.608Z,1628950312.608 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:52.966Z,1628950312.966 [Micromodem](INFO): Nmea in: $SNTTA,0.004936,,,,141153.42*4D

2021-08-14T14:11:53.047Z,1628950313.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.680000 m, bearing: 92.013242 deg, deltaT: 4.438897 s, approachRate: -0.256821 m/s, LOS rate: 0.739185 deg/s, posRepo size: 4
2021-08-14T14:11:53.053Z,1628950313.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 92.013242 deg,
      approachRate: -0.256821 m/s,
      LOS rate: 0.739185 deg/s,
      cmd update: 2.217556 deg/s,
      cmd heading: 96.863197 deg,
      new cmd heading: 99.037216 deg.

2021-08-14T14:11:55.392Z,1628950315.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:11:55.769Z,1628950315.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:11:55.769Z,1628950315.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:11:55.770Z,1628950315.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:11:55.771Z,1628950315.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:11:56.157Z,1628950316.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF9,000,002F1,186,80,80,B6,FF
2021-08-14T14:11:56.157Z,1628950316.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:11:56.157Z,1628950316.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:11:56.159Z,1628950316.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:11:56.609Z,1628950316.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:11:56.966Z,1628950316.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,002DC,187,80,80,4B,FF
2021-08-14T14:11:56.966Z,1628950316.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:11:56.997Z,1628950316.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:11:57.401Z,1628950317.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141157.86*57

2021-08-14T14:11:57.446Z,1628950317.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.419999 m, bearing: 104.660198 deg, deltaT: 4.387666 s, approachRate: -0.287169 m/s, LOS rate: 2.882388 deg/s, posRepo size: 4
2021-08-14T14:11:57.448Z,1628950317.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 104.660198 deg,
      approachRate: -0.287169 m/s,
      LOS rate: 2.882388 deg/s,
      cmd update: 8.647165 deg/s,
      cmd heading: 106.670824 deg,
      new cmd heading: 107.673370 deg.

2021-08-14T14:11:58.638Z,1628950318.638 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T14:11:59.861Z,1628950319.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:00.210Z,1628950320.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:00.210Z,1628950320.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:00.211Z,1628950320.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:00.212Z,1628950320.212 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:00.634Z,1628950320.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,002DC,187,80,80,4B,FF
2021-08-14T14:12:00.635Z,1628950320.635 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:00.635Z,1628950320.635 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:00.637Z,1628950320.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:01.082Z,1628950321.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:01.473Z,1628950321.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,002C0,184,80,80,D1,FF
2021-08-14T14:12:01.473Z,1628950321.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:01.561Z,1628950321.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:01.893Z,1628950321.893 [Micromodem](INFO): Nmea in: $SNTTA,0.020607,,,,141202.33*47

2021-08-14T14:12:01.935Z,1628950321.935 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T14:12:01.935Z,1628950321.935 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:12:01.936Z,1628950321.936 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T14:12:01.936Z,1628950321.936 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:12:01.938Z,1628950321.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T14:12:01.938Z,1628950321.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-14T14:12:01.938Z,1628950321.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T14:12:01.939Z,1628950321.939 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T14:12:01.941Z,1628950321.941 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T14:12:01.944Z,1628950321.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 112.837532 deg, deltaT: 4.564164 s, approachRate: -0.368085 m/s, LOS rate: 1.791639 deg/s, posRepo size: 4
2021-08-14T14:12:01.946Z,1628950321.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 112.837532 deg,
      approachRate: -0.368085 m/s,
      LOS rate: 1.791639 deg/s,
      cmd update: 5.374917 deg/s,
      cmd heading: 146.137859 deg,
      new cmd heading: 149.469603 deg.

2021-08-14T14:12:02.318Z,1628950322.318 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T141202: (41.552319, -70.708603)
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T14:12:02.319Z,1628950322.319 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:12:04.339Z,1628950324.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:04.697Z,1628950324.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:04.697Z,1628950324.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:04.697Z,1628950324.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:04.698Z,1628950324.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:05.101Z,1628950325.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,002C0,184,80,80,D1,FF
2021-08-14T14:12:05.101Z,1628950325.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:05.101Z,1628950325.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:05.103Z,1628950325.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:05.509Z,1628950325.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:05.909Z,1628950325.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,002D9,186,80,80,A8,FF
2021-08-14T14:12:05.909Z,1628950325.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:05.968Z,1628950325.968 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:06.350Z,1628950326.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141206.80*56

2021-08-14T14:12:06.367Z,1628950326.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 139.385255 deg, deltaT: 4.406771 s, approachRate: 0.340385 m/s, LOS rate: 6.024303 deg/s, posRepo size: 4
2021-08-14T14:12:06.369Z,1628950326.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 139.385255 deg,
      approachRate: 0.340385 m/s,
      LOS rate: 6.024303 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 169.780223 deg,
      new cmd heading: 171.982951 deg.

2021-08-14T14:12:08.854Z,1628950328.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:09.141Z,1628950329.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:09.141Z,1628950329.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:09.141Z,1628950329.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:09.142Z,1628950329.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:09.545Z,1628950329.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,002D9,186,80,80,A8,FF
2021-08-14T14:12:09.545Z,1628950329.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:09.545Z,1628950329.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:09.547Z,1628950329.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:09.952Z,1628950329.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:10.822Z,1628950330.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141211.24*5E

2021-08-14T14:12:11.566Z,1628950331.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,03667,186,80,80,81,FF
2021-08-14T14:12:11.566Z,1628950331.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:11.622Z,1628950331.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:12.015Z,1628950332.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 798.119995 m, bearing: 170.456742 deg, deltaT: 5.654430 s, approachRate: 140.045944 m/s, LOS rate: 5.495069 deg/s, posRepo size: 4
2021-08-14T14:12:12.017Z,1628950332.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 798.119995 m,
      bearing: 170.456742 deg,
      approachRate: 140.045944 m/s,
      LOS rate: 5.495069 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.679298 deg,
      new cmd heading: 242.480558 deg.

2021-08-14T14:12:12.401Z,1628950332.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:12:12.401Z,1628950332.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:12:12.401Z,1628950332.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:12:12.402Z,1628950332.402 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:12:12.402Z,1628950332.402 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:12:12.402Z,1628950332.402 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:12:12.874Z,1628950332.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:12:12.875Z,1628950332.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:12:12.875Z,1628950332.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:12:12.875Z,1628950332.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:12:14.416Z,1628950334.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:14.849Z,1628950334.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:14.849Z,1628950334.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:14.849Z,1628950334.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:14.850Z,1628950334.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:15.197Z,1628950335.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,03667,186,80,80,81,FF
2021-08-14T14:12:15.197Z,1628950335.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:15.198Z,1628950335.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:15.199Z,1628950335.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:15.614Z,1628950335.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:16.021Z,1628950336.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA6,000,00322,189,80,80,6D,FF
2021-08-14T14:12:16.022Z,1628950336.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:16.450Z,1628950336.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141216.90*56

2021-08-14T14:12:16.472Z,1628950336.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.619997 m, bearing: 199.970932 deg, deltaT: 4.478884 s, approachRate: -175.825043 m/s, LOS rate: 6.589630 deg/s, posRepo size: 4
2021-08-14T14:12:16.474Z,1628950336.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.619997 m,
      bearing: 199.970932 deg,
      approachRate: -175.825043 m/s,
      LOS rate: 6.589630 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 291.455211 deg,
      new cmd heading: 295.961307 deg.

2021-08-14T14:12:16.906Z,1628950336.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:12:16.906Z,1628950336.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:12:16.906Z,1628950336.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:12:16.907Z,1628950336.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:12:16.907Z,1628950336.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:12:16.907Z,1628950336.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:12:17.256Z,1628950337.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:12:17.256Z,1628950337.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:12:17.256Z,1628950337.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:12:17.256Z,1628950337.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:12:18.919Z,1628950338.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:19.245Z,1628950339.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:19.245Z,1628950339.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:19.245Z,1628950339.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:19.246Z,1628950339.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:19.645Z,1628950339.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA6,000,00322,189,80,80,6D,FF
2021-08-14T14:12:19.645Z,1628950339.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:19.645Z,1628950339.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:19.647Z,1628950339.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:20.063Z,1628950340.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:20.453Z,1628950340.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00342,187,80,80,96,FF
2021-08-14T14:12:20.453Z,1628950340.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:20.497Z,1628950340.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:20.905Z,1628950340.905 [Micromodem](INFO): Nmea in: $SNTTA,0.046788,,,,141221.35*46

2021-08-14T14:12:20.990Z,1628950340.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 215.846054 deg, deltaT: 4.396143 s, approachRate: 0.436747 m/s, LOS rate: 3.611148 deg/s, posRepo size: 4
2021-08-14T14:12:20.997Z,1628950340.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 215.846054 deg,
      approachRate: 0.436747 m/s,
      LOS rate: 3.611148 deg/s,
      cmd update: 10.833443 deg/s,
      cmd heading: 343.943512 deg,
      new cmd heading: 350.184112 deg.

2021-08-14T14:12:23.319Z,1628950343.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:23.689Z,1628950343.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:23.689Z,1628950343.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:23.689Z,1628950343.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:23.690Z,1628950343.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:24.097Z,1628950344.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00342,187,80,80,96,FF
2021-08-14T14:12:24.097Z,1628950344.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:24.097Z,1628950344.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:24.099Z,1628950344.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:24.501Z,1628950344.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:24.909Z,1628950344.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,00359,187,80,80,9D,FF
2021-08-14T14:12:24.910Z,1628950344.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:25.011Z,1628950345.011 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:25.337Z,1628950345.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141225.80*57

2021-08-14T14:12:25.377Z,1628950345.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 232.418825 deg, deltaT: 4.513502 s, approachRate: 0.305748 m/s, LOS rate: 3.671821 deg/s, posRepo size: 4
2021-08-14T14:12:25.379Z,1628950345.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 232.418825 deg,
      approachRate: 0.305748 m/s,
      LOS rate: 3.671821 deg/s,
      cmd update: 11.015463 deg/s,
      cmd heading: 33.048131 deg,
      new cmd heading: 37.091009 deg.

2021-08-14T14:12:27.811Z,1628950347.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:28.129Z,1628950348.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:28.129Z,1628950348.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:28.129Z,1628950348.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:28.130Z,1628950348.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:28.547Z,1628950348.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,00359,187,80,80,9D,FF
2021-08-14T14:12:28.547Z,1628950348.547 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:28.547Z,1628950348.547 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:28.549Z,1628950348.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:28.948Z,1628950348.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:29.397Z,1628950349.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,0036C,185,80,80,64,FF
2021-08-14T14:12:29.397Z,1628950349.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:29.418Z,1628950349.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:29.797Z,1628950349.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141230.25*5C

2021-08-14T14:12:29.847Z,1628950349.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 237.875654 deg, deltaT: 4.406618 s, approachRate: 0.258702 m/s, LOS rate: 1.238326 deg/s, posRepo size: 4
2021-08-14T14:12:29.855Z,1628950349.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.059998 m,
      bearing: 237.875654 deg,
      approachRate: 0.258702 m/s,
      LOS rate: 1.238326 deg/s,
      cmd update: 3.714977 deg/s,
      cmd heading: 81.641831 deg,
      new cmd heading: 86.408530 deg.

2021-08-14T14:12:32.195Z,1628950352.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:32.600Z,1628950352.600 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:32.601Z,1628950352.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:32.601Z,1628950352.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:32.603Z,1628950352.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:32.985Z,1628950352.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,0036C,185,80,80,64,FF
2021-08-14T14:12:32.985Z,1628950352.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:32.985Z,1628950352.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:32.987Z,1628950352.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:33.397Z,1628950353.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:33.825Z,1628950353.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0038A,186,80,80,A7,FF
2021-08-14T14:12:33.825Z,1628950353.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:33.885Z,1628950353.885 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:34.238Z,1628950354.238 [Micromodem](INFO): Nmea in: $SNTTA,0.051513,,,,141234.69*4D

2021-08-14T14:12:34.259Z,1628950354.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 227.420178 deg, deltaT: 4.467265 s, approachRate: 0.402932 m/s, LOS rate: -2.340465 deg/s, posRepo size: 4
2021-08-14T14:12:34.260Z,1628950354.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.86 m. Rolling out.
2021-08-14T14:12:34.261Z,1628950354.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T14:12:35.426Z,1628950355.426 [PowerOnly](INFO): Powering down loadControl
2021-08-14T14:12:36.719Z,1628950356.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:37.025Z,1628950357.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:37.025Z,1628950357.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:37.025Z,1628950357.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:37.026Z,1628950357.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:37.441Z,1628950357.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0038A,186,80,80,A7,FF
2021-08-14T14:12:37.441Z,1628950357.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:37.441Z,1628950357.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:37.443Z,1628950357.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:37.844Z,1628950357.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:38.678Z,1628950358.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141239.14*57

2021-08-14T14:12:39.475Z,1628950359.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:41.061Z,1628950361.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,A7,FF
2021-08-14T14:12:41.061Z,1628950361.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,A7,FF
2021-08-14T14:12:41.062Z,1628950361.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:12:42.309Z,1628950362.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:42.681Z,1628950362.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:42.681Z,1628950362.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:42.681Z,1628950362.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:42.682Z,1628950362.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:43.098Z,1628950363.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,A7,FF
2021-08-14T14:12:43.098Z,1628950363.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:43.099Z,1628950363.099 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:43.102Z,1628950363.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:43.501Z,1628950363.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:43.918Z,1628950363.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00404,185,80,80,7D,FF
2021-08-14T14:12:43.919Z,1628950363.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:43.951Z,1628950363.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:44.329Z,1628950364.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141244.80*50

2021-08-14T14:12:44.363Z,1628950364.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 172.769485 deg, deltaT: 10.066274 s, approachRate: 0.727181 m/s, LOS rate: -5.429089 deg/s, posRepo size: 4
2021-08-14T14:12:46.815Z,1628950366.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:47.122Z,1628950367.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:47.123Z,1628950367.123 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:47.123Z,1628950367.123 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:47.124Z,1628950367.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:47.530Z,1628950367.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00404,185,80,80,7D,FF
2021-08-14T14:12:47.530Z,1628950367.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:47.530Z,1628950367.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:47.532Z,1628950367.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:47.943Z,1628950367.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:48.337Z,1628950368.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,00417,189,80,80,3E,FF
2021-08-14T14:12:48.337Z,1628950368.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:48.382Z,1628950368.382 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:48.805Z,1628950368.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141249.23*54

2021-08-14T14:12:48.867Z,1628950368.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 119.827227 deg, deltaT: 4.430404 s, approachRate: 0.257313 m/s, LOS rate: -11.949758 deg/s, posRepo size: 4
2021-08-14T14:12:51.229Z,1628950371.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:51.569Z,1628950371.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:51.569Z,1628950371.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:51.569Z,1628950371.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:51.570Z,1628950371.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:51.973Z,1628950371.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,00417,189,80,80,3E,FF
2021-08-14T14:12:51.973Z,1628950371.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:51.973Z,1628950371.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:51.975Z,1628950371.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:52.389Z,1628950372.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:52.814Z,1628950372.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,00449,186,80,80,92,FF
2021-08-14T14:12:52.815Z,1628950372.815 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:52.920Z,1628950372.920 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:53.222Z,1628950373.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141253.68*50

2021-08-14T14:12:53.243Z,1628950373.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 117.184490 deg, deltaT: 4.538798 s, approachRate: 0.660968 m/s, LOS rate: -0.582255 deg/s, posRepo size: 4
2021-08-14T14:12:55.644Z,1628950375.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:12:56.013Z,1628950376.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:12:56.013Z,1628950376.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:12:56.013Z,1628950376.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:12:56.014Z,1628950376.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:12:56.417Z,1628950376.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
170,000,00449,186,80,80,92,FF
2021-08-14T14:12:56.417Z,1628950376.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:12:56.418Z,1628950376.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:12:56.419Z,1628950376.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:12:56.847Z,1628950376.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:12:57.225Z,1628950377.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36C,000,00467,189,80,80,A7,FF
2021-08-14T14:12:57.226Z,1628950377.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:12:57.267Z,1628950377.267 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:12:57.657Z,1628950377.657 [Micromodem](INFO): Nmea in: $SNTTA,0.040950,,,,141258.12*40

2021-08-14T14:12:57.710Z,1628950377.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.119997 m, bearing: 74.389872 deg, deltaT: 4.346478 s, approachRate: 0.414128 m/s, LOS rate: -9.845815 deg/s, posRepo size: 4
2021-08-14T14:13:00.074Z,1628950380.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:00.465Z,1628950380.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:00.465Z,1628950380.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:00.465Z,1628950380.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:00.465Z,1628950380.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:00.865Z,1628950380.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36C,000,00467,189,80,80,A7,FF
2021-08-14T14:13:00.865Z,1628950380.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:00.865Z,1628950380.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:00.867Z,1628950380.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:01.273Z,1628950381.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:01.669Z,1628950381.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00485,188,80,80,A7,FF
2021-08-14T14:13:01.669Z,1628950381.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:01.742Z,1628950381.742 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:13:02.121Z,1628950382.121 [Micromodem](INFO): Nmea in: $SNTTA,0.077723,,,,141302.57*41

2021-08-14T14:13:02.152Z,1628950382.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 74.035795 deg, deltaT: 4.480763 s, approachRate: 0.401718 m/s, LOS rate: -0.079022 deg/s, posRepo size: 4
2021-08-14T14:13:04.531Z,1628950384.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:04.907Z,1628950384.907 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:04.907Z,1628950384.907 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:04.907Z,1628950384.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:04.908Z,1628950384.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:05.305Z,1628950385.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00485,188,80,80,A7,FF
2021-08-14T14:13:05.305Z,1628950385.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:05.305Z,1628950385.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:05.307Z,1628950385.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:05.717Z,1628950385.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:06.128Z,1628950386.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,004A7,186,80,80,86,FF
2021-08-14T14:13:06.128Z,1628950386.128 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:06.159Z,1628950386.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:13:06.565Z,1628950386.565 [Micromodem](INFO): Nmea in: $SNTTA,0.044735,,,,141307.01*40

2021-08-14T14:13:06.663Z,1628950386.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 73.271783 deg, deltaT: 4.411092 s, approachRate: 0.462470 m/s, LOS rate: -0.173202 deg/s, posRepo size: 4
2021-08-14T14:13:09.025Z,1628950389.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:09.362Z,1628950389.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:09.362Z,1628950389.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:09.362Z,1628950389.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:09.366Z,1628950389.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:09.786Z,1628950389.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,004A7,186,80,80,86,FF
2021-08-14T14:13:09.787Z,1628950389.787 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:09.787Z,1628950389.787 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:09.793Z,1628950389.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:10.174Z,1628950390.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:10.577Z,1628950390.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,004B1,186,80,80,67,FF
2021-08-14T14:13:10.578Z,1628950390.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:10.710Z,1628950390.710 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:13:11.005Z,1628950391.005 [Micromodem](INFO): Nmea in: $SNTTA,0.340249,,,,141311.49*42

2021-08-14T14:13:11.047Z,1628950391.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 67.153150 deg, deltaT: 4.551901 s, approachRate: 0.131813 m/s, LOS rate: -1.344193 deg/s, posRepo size: 4
2021-08-14T14:13:13.431Z,1628950393.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:13.828Z,1628950393.828 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:13.828Z,1628950393.828 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:13.829Z,1628950393.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:13.830Z,1628950393.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:14.199Z,1628950394.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,004B1,186,80,80,67,FF
2021-08-14T14:13:14.199Z,1628950394.199 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:14.199Z,1628950394.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:14.201Z,1628950394.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:14.676Z,1628950394.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:15.459Z,1628950395.459 [Micromodem](INFO): Nmea in: $SNTTA,0.053499,,,,141315.90*48

2021-08-14T14:13:16.290Z,1628950396.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:17.481Z,1628950397.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,0,004B1,186,80,80,67,FF
2021-08-14T14:13:17.482Z,1628950397.482 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,0,004B1,186,80,80,67,FF
2021-08-14T14:13:17.482Z,1628950397.482 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:13:18.802Z,1628950398.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:19.097Z,1628950399.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:19.097Z,1628950399.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:19.097Z,1628950399.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:19.098Z,1628950399.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:19.509Z,1628950399.509 [DUSBL_Hydroid](INFO): DUSBL response received:63,E4
!U1,P
0,004B1,186,80,80,67,FF
2021-08-14T14:13:19.509Z,1628950399.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:19.509Z,1628950399.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:19.511Z,1628950399.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:19.908Z,1628950399.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:20.309Z,1628950400.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,004EE,188,80,80,6C,FF
2021-08-14T14:13:20.309Z,1628950400.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:20.354Z,1628950400.354 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:13:20.768Z,1628950400.768 [Micromodem](INFO): Nmea in: $SNTTA,0.441082,,,,141321.21*4C

2021-08-14T14:13:20.846Z,1628950400.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 55.605482 deg, deltaT: 9.643195 s, approachRate: 0.379543 m/s, LOS rate: -1.197494 deg/s, posRepo size: 4
2021-08-14T14:13:23.174Z,1628950403.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:23.545Z,1628950403.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:23.545Z,1628950403.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:23.545Z,1628950403.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:23.546Z,1628950403.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:23.941Z,1628950403.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,004EE,188,80,80,6C,FF
2021-08-14T14:13:23.941Z,1628950403.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:23.942Z,1628950403.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:23.943Z,1628950403.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:24.431Z,1628950404.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:24.821Z,1628950404.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A6,000,0050A,189,80,80,49,FF
2021-08-14T14:13:24.822Z,1628950404.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:24.825Z,1628950404.825 [Micromodem](INFO): Nmea in: $SNTTA,0.067045,0.262663,,,141325.64*59

2021-08-14T14:13:24.919Z,1628950404.919 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:13:25.241Z,1628950405.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 57.691049 deg, deltaT: 4.565086 s, approachRate: 0.368011 m/s, LOS rate: 0.456852 deg/s, posRepo size: 4
2021-08-14T14:13:27.638Z,1628950407.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:28.029Z,1628950408.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:28.030Z,1628950408.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:28.030Z,1628950408.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:28.031Z,1628950408.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:28.429Z,1628950408.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A6,000,0050A,189,80,80,49,FF
2021-08-14T14:13:28.429Z,1628950408.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:28.429Z,1628950408.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:28.431Z,1628950408.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:28.842Z,1628950408.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:29.242Z,1628950409.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,0052F,189,80,80,7E,FF
2021-08-14T14:13:29.242Z,1628950409.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:29.262Z,1628950409.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:13:29.681Z,1628950409.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 49.851170 deg, deltaT: 4.343328 s, approachRate: 0.511128 m/s, LOS rate: -1.805039 deg/s, posRepo size: 4
2021-08-14T14:13:30.081Z,1628950410.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:13:30.081Z,1628950410.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:13:30.081Z,1628950410.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:13:30.082Z,1628950410.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:13:30.082Z,1628950410.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:13:30.082Z,1628950410.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:13:30.496Z,1628950410.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:13:30.496Z,1628950410.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:13:30.496Z,1628950410.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:13:30.496Z,1628950410.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:13:32.112Z,1628950412.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:32.469Z,1628950412.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:32.469Z,1628950412.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:32.469Z,1628950412.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:32.470Z,1628950412.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:32.869Z,1628950412.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,0052F,189,80,80,7E,FF
2021-08-14T14:13:32.870Z,1628950412.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:32.870Z,1628950412.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:32.872Z,1628950412.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:33.294Z,1628950413.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:33.681Z,1628950413.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,382,000,00556,189,80,80,78,FF
2021-08-14T14:13:33.682Z,1628950413.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:34.137Z,1628950414.137 [Micromodem](INFO): Nmea in: $SNTTA,0.073203,,,,141334.57*47

2021-08-14T14:13:34.185Z,1628950414.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 47.876693 deg, deltaT: 4.529752 s, approachRate: 0.516585 m/s, LOS rate: -0.435891 deg/s, posRepo size: 4
2021-08-14T14:13:36.538Z,1628950416.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:36.913Z,1628950416.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:36.913Z,1628950416.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:36.913Z,1628950416.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:36.914Z,1628950416.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:37.325Z,1628950417.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
382,000,00556,189,80,80,78,FF
2021-08-14T14:13:37.325Z,1628950417.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:37.325Z,1628950417.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:37.327Z,1628950417.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:37.758Z,1628950417.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:38.137Z,1628950418.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,00581,188,80,80,AE,FF
2021-08-14T14:13:38.137Z,1628950418.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:38.618Z,1628950418.618 [Micromodem](INFO): Nmea in: $SNTTA,0.069931,,,,141339.03*4A

2021-08-14T14:13:38.693Z,1628950418.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 49.924571 deg, deltaT: 4.403944 s, approachRate: 0.585839 m/s, LOS rate: 0.465010 deg/s, posRepo size: 4
2021-08-14T14:13:41.033Z,1628950421.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:41.353Z,1628950421.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:41.354Z,1628950421.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:41.354Z,1628950421.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:41.355Z,1628950421.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:41.781Z,1628950421.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,00581,188,80,80,AE,FF
2021-08-14T14:13:41.781Z,1628950421.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:41.781Z,1628950421.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:41.783Z,1628950421.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:42.182Z,1628950422.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:42.577Z,1628950422.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,005A8,189,80,80,9E,FF
2021-08-14T14:13:42.578Z,1628950422.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:43.009Z,1628950423.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141343.48*52

2021-08-14T14:13:43.045Z,1628950423.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.380005 m, bearing: 51.252254 deg, deltaT: 4.492947 s, approachRate: 0.520817 m/s, LOS rate: 0.295504 deg/s, posRepo size: 4
2021-08-14T14:13:45.422Z,1628950425.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:45.825Z,1628950425.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:45.825Z,1628950425.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:45.825Z,1628950425.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:45.826Z,1628950425.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:46.209Z,1628950426.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,005A8,189,80,80,9E,FF
2021-08-14T14:13:46.209Z,1628950426.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:46.209Z,1628950426.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:46.211Z,1628950426.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:46.657Z,1628950426.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:47.013Z,1628950427.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,005D4,189,80,80,87,FF
2021-08-14T14:13:47.014Z,1628950427.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:47.453Z,1628950427.453 [Micromodem](INFO): Nmea in: $SNTTA,0.067975,,,,141347.91*46

2021-08-14T14:13:47.485Z,1628950427.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.020000 m, bearing: 51.103018 deg, deltaT: 4.378247 s, approachRate: 0.602980 m/s, LOS rate: -0.034086 deg/s, posRepo size: 4
2021-08-14T14:13:49.885Z,1628950429.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:50.245Z,1628950430.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:50.245Z,1628950430.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:50.245Z,1628950430.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:50.246Z,1628950430.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:50.665Z,1628950430.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,005D4,189,80,80,87,FF
2021-08-14T14:13:50.665Z,1628950430.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:50.665Z,1628950430.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:50.667Z,1628950430.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:51.068Z,1628950431.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:51.474Z,1628950431.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,481,000,00602,189,80,80,52,FF
2021-08-14T14:13:51.474Z,1628950431.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:51.909Z,1628950431.909 [Micromodem](INFO): Nmea in: $SNTTA,0.052943,,,,141352.37*4D

2021-08-14T14:13:51.965Z,1628950431.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.779995 m, bearing: 34.340740 deg, deltaT: 4.425978 s, approachRate: 0.623590 m/s, LOS rate: -3.787249 deg/s, posRepo size: 4
2021-08-14T14:13:54.322Z,1628950434.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:54.697Z,1628950434.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:54.697Z,1628950434.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:54.697Z,1628950434.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:54.698Z,1628950434.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:55.105Z,1628950435.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
481,000,00602,189,80,80,52,FF
2021-08-14T14:13:55.105Z,1628950435.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:55.105Z,1628950435.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:55.107Z,1628950435.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:55.509Z,1628950435.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:13:55.909Z,1628950435.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,0062C,187,80,80,50,FF
2021-08-14T14:13:55.909Z,1628950435.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:13:56.357Z,1628950436.357 [Micromodem](INFO): Nmea in: $SNTTA,0.073418,,,,141356.81*44

2021-08-14T14:13:56.373Z,1628950436.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 68.947208 deg, deltaT: 4.474446 s, approachRate: 0.563199 m/s, LOS rate: 7.734247 deg/s, posRepo size: 4
2021-08-14T14:13:58.826Z,1628950438.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:13:59.149Z,1628950439.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:13:59.149Z,1628950439.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:13:59.149Z,1628950439.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:13:59.150Z,1628950439.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:13:59.549Z,1628950439.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,0062C,187,80,80,50,FF
2021-08-14T14:13:59.549Z,1628950439.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:13:59.549Z,1628950439.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:13:59.551Z,1628950439.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:13:59.961Z,1628950439.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:00.355Z,1628950440.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F74,000,00656,186,80,80,9C,FF
2021-08-14T14:14:00.355Z,1628950440.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:00.809Z,1628950440.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141401.25*58

2021-08-14T14:14:00.877Z,1628950440.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 99.584773 deg, deltaT: 4.442437 s, approachRate: 0.567256 m/s, LOS rate: 6.896567 deg/s, posRepo size: 4
2021-08-14T14:14:03.209Z,1628950443.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:03.585Z,1628950443.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:03.585Z,1628950443.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:03.585Z,1628950443.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:03.586Z,1628950443.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:03.985Z,1628950443.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F74,000,00656,186,80,80,9C,FF
2021-08-14T14:14:03.985Z,1628950443.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:03.986Z,1628950443.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:03.987Z,1628950443.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:04.401Z,1628950444.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:04.833Z,1628950444.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00689,187,80,80,88,FF
2021-08-14T14:14:04.833Z,1628950444.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:04.836Z,1628950444.836 [Micromodem](INFO): Nmea in: $SNTTA,0.201306,0.200106,,,141405.69*57

2021-08-14T14:14:05.267Z,1628950445.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.879997 m, bearing: 101.529287 deg, deltaT: 4.525760 s, approachRate: 0.676129 m/s, LOS rate: 0.429655 deg/s, posRepo size: 4
2021-08-14T14:14:07.659Z,1628950447.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:08.029Z,1628950448.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:08.029Z,1628950448.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:08.029Z,1628950448.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:08.030Z,1628950448.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:08.442Z,1628950448.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00689,187,80,80,88,FF
2021-08-14T14:14:08.442Z,1628950448.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:08.442Z,1628950448.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:08.448Z,1628950448.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:08.854Z,1628950448.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:09.261Z,1628950449.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E9,000,006BD,186,80,80,1E,FF
2021-08-14T14:14:09.261Z,1628950449.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:09.678Z,1628950449.678 [Micromodem](INFO): Nmea in: $SNTTA,0.058232,,,,141410.15*4B

2021-08-14T14:14:09.700Z,1628950449.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 67.879649 deg, deltaT: 4.345188 s, approachRate: 0.718036 m/s, LOS rate: -7.744115 deg/s, posRepo size: 4
2021-08-14T14:14:12.121Z,1628950452.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:12.477Z,1628950452.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:12.477Z,1628950452.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:12.477Z,1628950452.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:12.478Z,1628950452.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:12.885Z,1628950452.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E9,000,006BD,186,80,80,1E,FF
2021-08-14T14:14:12.885Z,1628950452.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:12.885Z,1628950452.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:12.887Z,1628950452.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:13.324Z,1628950453.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:13.709Z,1628950453.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,006DF,187,80,80,65,FF
2021-08-14T14:14:13.709Z,1628950453.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:14.141Z,1628950454.141 [Micromodem](INFO): Nmea in: $SNTTA,0.050592,,,,141414.59*42

2021-08-14T14:14:14.185Z,1628950454.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 103.073668 deg, deltaT: 4.511475 s, approachRate: 0.452180 m/s, LOS rate: 7.801001 deg/s, posRepo size: 4
2021-08-14T14:14:16.629Z,1628950456.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:16.949Z,1628950456.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:16.949Z,1628950456.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:16.949Z,1628950456.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:16.950Z,1628950456.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:17.349Z,1628950457.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,006DF,187,80,80,65,FF
2021-08-14T14:14:17.349Z,1628950457.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:17.349Z,1628950457.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:17.351Z,1628950457.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:17.786Z,1628950457.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:18.150Z,1628950458.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42D,000,0070F,189,80,80,5D,FF
2021-08-14T14:14:18.150Z,1628950458.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:18.601Z,1628950458.601 [Micromodem](INFO): Nmea in: $SNTTA,0.065087,,,,141419.05*41

2021-08-14T14:14:18.677Z,1628950458.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 39.882571 deg, deltaT: 4.381681 s, approachRate: 0.657281 m/s, LOS rate: -14.421656 deg/s, posRepo size: 4
2021-08-14T14:14:21.027Z,1628950461.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:21.389Z,1628950461.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:21.389Z,1628950461.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:21.389Z,1628950461.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:21.390Z,1628950461.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:21.817Z,1628950461.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42D,000,0070F,189,80,80,5D,FF
2021-08-14T14:14:21.817Z,1628950461.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:21.817Z,1628950461.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:21.819Z,1628950461.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:22.209Z,1628950462.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:22.626Z,1628950462.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,00743,189,80,80,57,FF
2021-08-14T14:14:22.626Z,1628950462.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:23.041Z,1628950463.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141423.52*58

2021-08-14T14:14:23.087Z,1628950463.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.040001 m, bearing: 124.397607 deg, deltaT: 4.511703 s, approachRate: 0.691535 m/s, LOS rate: 18.732403 deg/s, posRepo size: 4
2021-08-14T14:14:25.455Z,1628950465.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:25.841Z,1628950465.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:25.841Z,1628950465.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:25.841Z,1628950465.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:25.842Z,1628950465.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:26.249Z,1628950466.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,00743,189,80,80,57,FF
2021-08-14T14:14:26.249Z,1628950466.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:26.249Z,1628950466.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:26.251Z,1628950466.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:26.672Z,1628950466.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:27.053Z,1628950467.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0076C,186,80,80,9E,FF
2021-08-14T14:14:27.054Z,1628950467.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:27.473Z,1628950467.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141427.95*57

2021-08-14T14:14:27.515Z,1628950467.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.500000 m, bearing: 113.765536 deg, deltaT: 4.425781 s, approachRate: 0.555834 m/s, LOS rate: -2.402304 deg/s, posRepo size: 4
2021-08-14T14:14:29.921Z,1628950469.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:30.282Z,1628950470.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:30.282Z,1628950470.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:30.282Z,1628950470.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:30.283Z,1628950470.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:30.683Z,1628950470.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,0076C,186,80,80,9E,FF
2021-08-14T14:14:30.683Z,1628950470.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:30.683Z,1628950470.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:30.685Z,1628950470.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:31.100Z,1628950471.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:31.485Z,1628950471.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,0079D,187,80,80,7F,FF
2021-08-14T14:14:31.486Z,1628950471.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:31.929Z,1628950471.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141432.39*55

2021-08-14T14:14:31.971Z,1628950471.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.440002 m, bearing: 119.225364 deg, deltaT: 4.452297 s, approachRate: 0.660334 m/s, LOS rate: 1.226295 deg/s, posRepo size: 4
2021-08-14T14:14:34.366Z,1628950474.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:34.722Z,1628950474.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:34.723Z,1628950474.723 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:34.724Z,1628950474.724 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:34.726Z,1628950474.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:35.131Z,1628950475.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,0079D,187,80,80,7F,FF
2021-08-14T14:14:35.132Z,1628950475.132 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:35.132Z,1628950475.132 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:35.134Z,1628950475.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:35.529Z,1628950475.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:35.934Z,1628950475.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,007CF,186,80,80,64,FF
2021-08-14T14:14:35.935Z,1628950475.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:36.378Z,1628950476.378 [Micromodem](INFO): Nmea in: $SNTTA,0.076468,,,,141436.83*45

2021-08-14T14:14:36.394Z,1628950476.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.440010 m, bearing: 119.035867 deg, deltaT: 4.438099 s, approachRate: 0.675967 m/s, LOS rate: -0.042698 deg/s, posRepo size: 4
2021-08-14T14:14:38.843Z,1628950478.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:39.166Z,1628950479.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:39.166Z,1628950479.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:39.166Z,1628950479.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:39.167Z,1628950479.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:39.569Z,1628950479.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,007CF,186,80,80,64,FF
2021-08-14T14:14:39.569Z,1628950479.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:39.569Z,1628950479.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:39.571Z,1628950479.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:39.987Z,1628950479.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:40.373Z,1628950480.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,007FC,18A,80,80,5E,FF
2021-08-14T14:14:40.374Z,1628950480.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:40.973Z,1628950480.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141441.27*5E

2021-08-14T14:14:41.047Z,1628950481.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.139999 m, bearing: 122.046751 deg, deltaT: 4.430368 s, approachRate: 0.609428 m/s, LOS rate: 0.679601 deg/s, posRepo size: 4
2021-08-14T14:14:43.289Z,1628950483.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:43.661Z,1628950483.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:43.661Z,1628950483.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:43.661Z,1628950483.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:43.662Z,1628950483.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:44.058Z,1628950484.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,007FC,18A,80,80,5E,FF
2021-08-14T14:14:44.058Z,1628950484.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:44.059Z,1628950484.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:44.062Z,1628950484.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:44.489Z,1628950484.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:44.866Z,1628950484.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00833,185,80,80,7E,FF
2021-08-14T14:14:44.866Z,1628950484.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:44.871Z,1628950484.871 [Micromodem](INFO): Nmea in: $SNTTA,0.163213,0.163194,,,141445.76*52

2021-08-14T14:14:45.299Z,1628950485.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 112.256877 deg, deltaT: 4.562113 s, approachRate: 0.723348 m/s, LOS rate: -2.145908 deg/s, posRepo size: 4
2021-08-14T14:14:47.733Z,1628950487.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:48.101Z,1628950488.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:48.101Z,1628950488.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:48.102Z,1628950488.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:48.103Z,1628950488.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:48.509Z,1628950488.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00833,185,80,80,7E,FF
2021-08-14T14:14:48.509Z,1628950488.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:48.509Z,1628950488.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:48.511Z,1628950488.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:48.918Z,1628950488.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:49.318Z,1628950489.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,00864,187,80,80,7A,FF
2021-08-14T14:14:49.318Z,1628950489.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:49.761Z,1628950489.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141450.21*58

2021-08-14T14:14:49.837Z,1628950489.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.379997 m, bearing: 118.958645 deg, deltaT: 4.347868 s, approachRate: 0.676194 m/s, LOS rate: 1.541392 deg/s, posRepo size: 4
2021-08-14T14:14:52.191Z,1628950492.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:52.545Z,1628950492.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:52.545Z,1628950492.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:52.545Z,1628950492.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:52.546Z,1628950492.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:52.949Z,1628950492.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,00864,187,80,80,7A,FF
2021-08-14T14:14:52.949Z,1628950492.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:52.950Z,1628950492.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:52.952Z,1628950492.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:53.357Z,1628950493.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:53.777Z,1628950493.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,00892,186,80,80,53,FF
2021-08-14T14:14:53.778Z,1628950493.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:54.193Z,1628950494.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141454.65*5C

2021-08-14T14:14:54.229Z,1628950494.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.140007 m, bearing: 119.050061 deg, deltaT: 4.521260 s, approachRate: 0.610451 m/s, LOS rate: 0.020219 deg/s, posRepo size: 4
2021-08-14T14:14:56.684Z,1628950496.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:14:56.997Z,1628950496.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:14:56.997Z,1628950496.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:14:56.997Z,1628950496.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:14:56.998Z,1628950496.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:14:57.401Z,1628950497.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,00892,186,80,80,53,FF
2021-08-14T14:14:57.401Z,1628950497.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:14:57.401Z,1628950497.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:14:57.403Z,1628950497.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:14:57.833Z,1628950497.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:14:58.201Z,1628950498.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,008C0,187,80,80,80,FF
2021-08-14T14:14:58.201Z,1628950498.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:14:58.670Z,1628950498.670 [Micromodem](INFO): Nmea in: $SNTTA,0.490371,0.490984,,,141459.10*53

2021-08-14T14:14:58.789Z,1628950498.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.899994 m, bearing: 116.565006 deg, deltaT: 4.357126 s, approachRate: 0.633442 m/s, LOS rate: -0.570343 deg/s, posRepo size: 4
2021-08-14T14:15:01.068Z,1628950501.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:01.433Z,1628950501.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:01.433Z,1628950501.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:01.433Z,1628950501.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:01.434Z,1628950501.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:01.845Z,1628950501.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,008C0,187,80,80,80,FF
2021-08-14T14:15:01.845Z,1628950501.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:01.845Z,1628950501.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:01.847Z,1628950501.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:02.255Z,1628950502.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:02.679Z,1628950502.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E38,000,008EE,186,80,80,6B,FF
2021-08-14T14:15:02.681Z,1628950502.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:02.708Z,1628950502.708 [Micromodem](INFO): Nmea in: $SNTTA,0.074457,0.310505,,,141503.55*5B

2021-08-14T14:15:03.087Z,1628950503.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.660004 m, bearing: 116.023180 deg, deltaT: 4.621735 s, approachRate: 0.597180 m/s, LOS rate: -0.117234 deg/s, posRepo size: 4
2021-08-14T14:15:05.495Z,1628950505.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:05.877Z,1628950505.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:05.877Z,1628950505.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:05.877Z,1628950505.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:05.878Z,1628950505.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:06.290Z,1628950506.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E38,000,008EE,186,80,80,6B,FF
2021-08-14T14:15:06.290Z,1628950506.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:06.290Z,1628950506.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:06.292Z,1628950506.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:06.689Z,1628950506.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:07.101Z,1628950507.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,0091E,186,80,80,74,FF
2021-08-14T14:15:07.101Z,1628950507.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:07.553Z,1628950507.553 [Micromodem](INFO): Nmea in: $SNTTA,0.070140,,,,141507.99*44

2021-08-14T14:15:07.615Z,1628950507.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 111.444747 deg, deltaT: 4.302772 s, approachRate: 0.669335 m/s, LOS rate: -1.064066 deg/s, posRepo size: 4
2021-08-14T14:15:09.955Z,1628950509.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:10.321Z,1628950510.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:10.321Z,1628950510.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:10.321Z,1628950510.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:10.322Z,1628950510.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:10.734Z,1628950510.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,0091E,186,80,80,74,FF
2021-08-14T14:15:10.734Z,1628950510.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:10.735Z,1628950510.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:10.737Z,1628950510.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:11.162Z,1628950511.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:11.557Z,1628950511.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00516,186,80,80,72,FF
2021-08-14T14:15:11.557Z,1628950511.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:12.001Z,1628950512.001 [Micromodem](INFO): Nmea in: $SNTTA,0.040474,,,,141512.44*41

2021-08-14T14:15:12.029Z,1628950512.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 105.185152 deg, deltaT: 4.479048 s, approachRate: -13.824366 m/s, LOS rate: -1.397528 deg/s, posRepo size: 4
2021-08-14T14:15:14.406Z,1628950514.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:14.821Z,1628950514.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:14.821Z,1628950514.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:14.821Z,1628950514.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:14.822Z,1628950514.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:15.193Z,1628950515.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00516,186,80,80,72,FF
2021-08-14T14:15:15.193Z,1628950515.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:15.194Z,1628950515.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:15.195Z,1628950515.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:15.608Z,1628950515.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:16.005Z,1628950516.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,0097C,185,80,80,81,FF
2021-08-14T14:15:16.005Z,1628950516.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:16.453Z,1628950516.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141516.89*59

2021-08-14T14:15:16.475Z,1628950516.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.180008 m, bearing: 113.063666 deg, deltaT: 4.431553 s, approachRate: 15.245221 m/s, LOS rate: 1.777822 deg/s, posRepo size: 4
2021-08-14T14:15:18.887Z,1628950518.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:19.229Z,1628950519.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:19.229Z,1628950519.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:19.229Z,1628950519.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:19.230Z,1628950519.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:19.629Z,1628950519.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,0097C,185,80,80,81,FF
2021-08-14T14:15:19.629Z,1628950519.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:19.629Z,1628950519.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:19.631Z,1628950519.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:20.037Z,1628950520.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:20.437Z,1628950520.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,009AD,186,80,80,5D,FF
2021-08-14T14:15:20.438Z,1628950520.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:20.854Z,1628950520.854 [Micromodem](INFO): Nmea in: $SNTTA,0.376981,0.377037,,,141521.33*59

2021-08-14T14:15:20.910Z,1628950520.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.119995 m, bearing: 114.286577 deg, deltaT: 4.401275 s, approachRate: 0.667985 m/s, LOS rate: 0.277854 deg/s, posRepo size: 4
2021-08-14T14:15:23.294Z,1628950523.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:23.673Z,1628950523.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:23.673Z,1628950523.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:23.673Z,1628950523.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:23.674Z,1628950523.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:24.085Z,1628950524.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,009AD,186,80,80,5D,FF
2021-08-14T14:15:24.085Z,1628950524.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:24.085Z,1628950524.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:24.087Z,1628950524.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:24.492Z,1628950524.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:24.893Z,1628950524.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,009DE,186,80,80,91,FF
2021-08-14T14:15:24.893Z,1628950524.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:24.897Z,1628950524.897 [Micromodem](INFO): Nmea in: $SNTTA,0.102399,0.151449,,,141525.79*5A

2021-08-14T14:15:25.315Z,1628950525.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.059998 m, bearing: 112.985891 deg, deltaT: 4.544541 s, approachRate: 0.646931 m/s, LOS rate: -0.286209 deg/s, posRepo size: 4
2021-08-14T14:15:27.792Z,1628950527.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:28.113Z,1628950528.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:28.113Z,1628950528.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:28.114Z,1628950528.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:28.114Z,1628950528.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:28.517Z,1628950528.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,009DE,186,80,80,91,FF
2021-08-14T14:15:28.517Z,1628950528.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:28.517Z,1628950528.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:28.519Z,1628950528.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:28.933Z,1628950528.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:29.333Z,1628950529.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00A0B,185,80,80,9D,FF
2021-08-14T14:15:29.334Z,1628950529.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:29.771Z,1628950529.771 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141530.22*5C

2021-08-14T14:15:29.815Z,1628950529.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.760002 m, bearing: 113.242235 deg, deltaT: 4.353527 s, approachRate: 0.620188 m/s, LOS rate: 0.058882 deg/s, posRepo size: 4
2021-08-14T14:15:32.171Z,1628950532.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:32.564Z,1628950532.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:32.565Z,1628950532.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:32.565Z,1628950532.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:32.567Z,1628950532.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:32.969Z,1628950532.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00A0B,185,80,80,9D,FF
2021-08-14T14:15:32.969Z,1628950532.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:32.969Z,1628950532.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:32.971Z,1628950532.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:33.382Z,1628950533.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:33.801Z,1628950533.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00A3B,186,80,80,76,FF
2021-08-14T14:15:33.802Z,1628950533.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:34.214Z,1628950534.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141534.67*59

2021-08-14T14:15:34.235Z,1628950534.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.639999 m, bearing: 113.408160 deg, deltaT: 4.475935 s, approachRate: 0.643440 m/s, LOS rate: 0.037071 deg/s, posRepo size: 4
2021-08-14T14:15:36.694Z,1628950536.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:37.009Z,1628950537.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:37.009Z,1628950537.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:37.009Z,1628950537.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:37.010Z,1628950537.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:37.405Z,1628950537.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00A3B,186,80,80,76,FF
2021-08-14T14:15:37.405Z,1628950537.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:37.405Z,1628950537.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:37.407Z,1628950537.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:37.832Z,1628950537.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:38.217Z,1628950538.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00A6A,186,80,80,6B,FF
2021-08-14T14:15:38.217Z,1628950538.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:38.685Z,1628950538.685 [Micromodem](INFO): Nmea in: $SNTTA,0.089752,,,,141539.11*4A

2021-08-14T14:15:38.785Z,1628950538.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.460007 m, bearing: 115.720712 deg, deltaT: 4.429834 s, approachRate: 0.636594 m/s, LOS rate: 0.522040 deg/s, posRepo size: 4
2021-08-14T14:15:40.774Z,1628950540.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:41.041Z,1628950541.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:41.041Z,1628950541.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:41.041Z,1628950541.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:41.042Z,1628950541.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:41.453Z,1628950541.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00A6A,186,80,80,6B,FF
2021-08-14T14:15:41.453Z,1628950541.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:41.454Z,1628950541.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:41.455Z,1628950541.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:41.861Z,1628950541.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:42.253Z,1628950542.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00652,187,80,80,7E,FF
2021-08-14T14:15:42.254Z,1628950542.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:42.713Z,1628950542.713 [Micromodem](INFO): Nmea in: $SNTTA,0.041936,,,,141543.16*48

2021-08-14T14:15:42.822Z,1628950542.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.579998 m, bearing: 115.766024 deg, deltaT: 4.044202 s, approachRate: -15.548187 m/s, LOS rate: 0.011204 deg/s, posRepo size: 4
2021-08-14T14:15:45.113Z,1628950545.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:45.485Z,1628950545.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:45.485Z,1628950545.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:45.485Z,1628950545.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:45.486Z,1628950545.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:45.886Z,1628950545.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00652,187,80,80,7E,FF
2021-08-14T14:15:45.886Z,1628950545.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:45.886Z,1628950545.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:45.887Z,1628950545.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:46.301Z,1628950546.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:46.734Z,1628950546.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00AC5,186,80,80,76,FF
2021-08-14T14:15:46.734Z,1628950546.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:46.743Z,1628950546.743 [Micromodem](INFO): Nmea in: $SNTTA,0.087522,0.289578,,,141547.59*53

2021-08-14T14:15:47.141Z,1628950547.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.919998 m, bearing: 116.907048 deg, deltaT: 4.547469 s, approachRate: 15.028139 m/s, LOS rate: 0.250914 deg/s, posRepo size: 4
2021-08-14T14:15:49.559Z,1628950549.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:49.937Z,1628950549.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:49.937Z,1628950549.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:49.938Z,1628950549.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:49.938Z,1628950549.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:50.333Z,1628950550.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00AC5,186,80,80,76,FF
2021-08-14T14:15:50.333Z,1628950550.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:50.333Z,1628950550.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:50.335Z,1628950550.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:50.758Z,1628950550.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:51.157Z,1628950551.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00AF3,186,80,80,70,FF
2021-08-14T14:15:51.157Z,1628950551.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:51.589Z,1628950551.589 [Micromodem](INFO): Nmea in: $SNTTA,0.026521,,,,141552.04*40

2021-08-14T14:15:51.624Z,1628950551.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 115.372468 deg, deltaT: 4.324369 s, approachRate: 0.638246 m/s, LOS rate: -0.354868 deg/s, posRepo size: 4
2021-08-14T14:15:54.019Z,1628950554.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:54.373Z,1628950554.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:54.373Z,1628950554.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:54.373Z,1628950554.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:54.374Z,1628950554.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:54.817Z,1628950554.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00AF3,186,80,80,70,FF
2021-08-14T14:15:54.817Z,1628950554.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:54.817Z,1628950554.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:54.819Z,1628950554.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:55.261Z,1628950555.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:15:55.661Z,1628950555.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00B25,187,80,80,6C,FF
2021-08-14T14:15:55.661Z,1628950555.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:15:56.085Z,1628950556.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141556.52*5B

2021-08-14T14:15:56.143Z,1628950556.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.680008 m, bearing: 117.261617 deg, deltaT: 4.508210 s, approachRate: 0.665453 m/s, LOS rate: 0.419046 deg/s, posRepo size: 4
2021-08-14T14:15:58.507Z,1628950558.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:15:58.893Z,1628950558.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:15:58.893Z,1628950558.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:15:58.893Z,1628950558.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:15:58.894Z,1628950558.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:15:59.301Z,1628950559.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00B25,187,80,80,6C,FF
2021-08-14T14:15:59.301Z,1628950559.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:15:59.301Z,1628950559.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:15:59.303Z,1628950559.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:15:59.705Z,1628950559.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:00.107Z,1628950560.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00B5A,186,80,80,69,FF
2021-08-14T14:16:00.107Z,1628950560.107 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:00.544Z,1628950560.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141601.01*5C

2021-08-14T14:16:00.639Z,1628950560.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.860001 m, bearing: 114.987246 deg, deltaT: 4.471701 s, approachRate: 0.711137 m/s, LOS rate: -0.508614 deg/s, posRepo size: 4
2021-08-14T14:16:03.016Z,1628950563.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:03.345Z,1628950563.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:03.345Z,1628950563.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:03.346Z,1628950563.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:03.347Z,1628950563.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:03.780Z,1628950563.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00B5A,186,80,80,69,FF
2021-08-14T14:16:03.780Z,1628950563.780 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:03.780Z,1628950563.780 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:03.782Z,1628950563.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:04.149Z,1628950564.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:04.565Z,1628950564.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00B8C,186,80,80,69,FF
2021-08-14T14:16:04.567Z,1628950564.567 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:04.979Z,1628950564.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141605.48*55

2021-08-14T14:16:05.016Z,1628950565.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.860001 m, bearing: 112.224174 deg, deltaT: 4.540014 s, approachRate: 0.660791 m/s, LOS rate: -0.608604 deg/s, posRepo size: 4
2021-08-14T14:16:07.419Z,1628950567.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:07.825Z,1628950567.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:07.825Z,1628950567.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:07.825Z,1628950567.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:07.826Z,1628950567.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:08.191Z,1628950568.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00B8C,186,80,80,69,FF
2021-08-14T14:16:08.191Z,1628950568.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:08.191Z,1628950568.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:08.193Z,1628950568.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:08.631Z,1628950568.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:09.422Z,1628950569.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141609.89*54

2021-08-14T14:16:10.223Z,1628950570.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:11.833Z,1628950571.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,092C1,189,80,80,42,FF
2021-08-14T14:16:11.833Z,1628950571.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:12.259Z,1628950572.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2216.640137 m, bearing: 56.998011 deg, deltaT: 7.194526 s, approachRate: 288.661133 m/s, LOS rate: -7.676136 deg/s, posRepo size: 4
2021-08-14T14:16:12.260Z,1628950572.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2216.64 m. Resuming terminal guidance.
2021-08-14T14:16:12.260Z,1628950572.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T14:16:14.780Z,1628950574.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:15.065Z,1628950575.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:15.065Z,1628950575.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:15.065Z,1628950575.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:15.066Z,1628950575.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:15.461Z,1628950575.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,092C1,189,80,80,42,FF
2021-08-14T14:16:15.462Z,1628950575.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:15.462Z,1628950575.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:15.463Z,1628950575.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:15.877Z,1628950575.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:16.277Z,1628950576.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,00C0B,189,80,80,63,FF
2021-08-14T14:16:16.278Z,1628950576.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:16.709Z,1628950576.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141617.17*5C

2021-08-14T14:16:16.818Z,1628950576.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.479996 m, bearing: 55.302904 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T14:16:16.819Z,1628950576.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 55.302904deg and heading rate command to 0 deg/s.
2021-08-14T14:16:19.142Z,1628950579.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:19.520Z,1628950579.520 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:19.520Z,1628950579.520 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:19.520Z,1628950579.520 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:19.521Z,1628950579.521 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:19.913Z,1628950579.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FF,000,00C0B,189,80,80,63,FF
2021-08-14T14:16:19.914Z,1628950579.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:19.914Z,1628950579.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:19.915Z,1628950579.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:20.308Z,1628950580.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:20.730Z,1628950580.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E65,000,00C3D,185,80,80,61,FF
2021-08-14T14:16:20.730Z,1628950580.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:21.153Z,1628950581.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141621.62*5B

2021-08-14T14:16:21.189Z,1628950581.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.480011 m, bearing: 112.049438 deg, deltaT: 4.540987 s, approachRate: 0.660653 m/s, LOS rate: 12.496519 deg/s, posRepo size: 2
2021-08-14T14:16:21.190Z,1628950581.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.496519 deg/s. Setting heading cmd to target bearing of 112.049438deg and heading rate command to 0 deg/s.
2021-08-14T14:16:23.554Z,1628950583.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:23.954Z,1628950583.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:23.954Z,1628950583.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:23.954Z,1628950583.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:23.955Z,1628950583.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:24.349Z,1628950584.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E65,000,00C3D,185,80,80,61,FF
2021-08-14T14:16:24.350Z,1628950584.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:24.350Z,1628950584.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:24.352Z,1628950584.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:24.785Z,1628950584.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:25.158Z,1628950585.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,392,000,00C65,189,80,80,61,FF
2021-08-14T14:16:25.158Z,1628950585.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:25.605Z,1628950585.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141626.06*5E

2021-08-14T14:16:25.623Z,1628950585.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.880005 m, bearing: 28.775956 deg, deltaT: 4.334741 s, approachRate: 0.553665 m/s, LOS rate: -19.210716 deg/s, posRepo size: 3
2021-08-14T14:16:25.623Z,1628950585.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.210716 deg/s. Setting heading cmd to target bearing of 28.775956deg and heading rate command to 0 deg/s.
2021-08-14T14:16:28.032Z,1628950588.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:28.385Z,1628950588.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:28.385Z,1628950588.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:28.385Z,1628950588.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:28.386Z,1628950588.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:28.819Z,1628950588.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
392,000,00C65,189,80,80,61,FF
2021-08-14T14:16:28.819Z,1628950588.819 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:28.819Z,1628950588.819 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:28.856Z,1628950588.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:29.197Z,1628950589.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:30.001Z,1628950590.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,00C93,187,80,80,2B,FF
2021-08-14T14:16:30.002Z,1628950590.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:30.421Z,1628950590.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141630.56*5C

2021-08-14T14:16:30.467Z,1628950590.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.639999 m, bearing: 85.065908 deg, deltaT: 4.880364 s, approachRate: 0.565530 m/s, LOS rate: 11.533966 deg/s, posRepo size: 4
2021-08-14T14:16:30.468Z,1628950590.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.533966 deg/s. Setting heading cmd to target bearing of 85.065908deg and heading rate command to 0 deg/s.
2021-08-14T14:16:32.923Z,1628950592.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:33.237Z,1628950593.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:33.237Z,1628950593.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:33.237Z,1628950593.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:33.238Z,1628950593.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:33.639Z,1628950593.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,00C93,187,80,80,2B,FF
2021-08-14T14:16:33.640Z,1628950593.640 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:33.640Z,1628950593.640 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:33.643Z,1628950593.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:34.041Z,1628950594.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:34.451Z,1628950594.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00CC1,186,80,80,2B,FF
2021-08-14T14:16:34.453Z,1628950594.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:34.861Z,1628950594.861 [Micromodem](INFO): Nmea in: $SNTTA,0.370357,0.370375,,,141635.34*5D

2021-08-14T14:16:34.942Z,1628950594.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.400009 m, bearing: 106.419456 deg, deltaT: 4.463242 s, approachRate: 0.618387 m/s, LOS rate: 4.784313 deg/s, posRepo size: 4
2021-08-14T14:16:34.945Z,1628950594.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 106.419456 deg,
      approachRate: 0.618387 m/s,
      LOS rate: 4.784313 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 85.065908 deg,
      new cmd heading: 85.065908 deg.

2021-08-14T14:16:37.302Z,1628950597.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:37.685Z,1628950597.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:37.685Z,1628950597.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:37.685Z,1628950597.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:37.686Z,1628950597.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:38.081Z,1628950598.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00CC1,186,80,80,2B,FF
2021-08-14T14:16:38.081Z,1628950598.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:38.081Z,1628950598.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:38.083Z,1628950598.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:38.496Z,1628950598.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:38.887Z,1628950598.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,474,000,00CEC,186,80,80,2B,FF
2021-08-14T14:16:38.888Z,1628950598.888 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:38.892Z,1628950598.892 [Micromodem](INFO): Nmea in: $SNTTA,0.191162,0.190287,,,141639.78*50

2021-08-14T14:16:39.351Z,1628950599.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.980011 m, bearing: 16.697948 deg, deltaT: 4.500271 s, approachRate: 0.573299 m/s, LOS rate: -19.936912 deg/s, posRepo size: 4
2021-08-14T14:16:39.353Z,1628950599.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.936912 deg/s. Setting heading cmd to target bearing of 16.697948deg and heading rate command to 0 deg/s.
2021-08-14T14:16:41.810Z,1628950601.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:42.121Z,1628950602.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:42.121Z,1628950602.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:42.121Z,1628950602.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:42.122Z,1628950602.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:42.525Z,1628950602.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
474,000,00CEC,186,80,80,2B,FF
2021-08-14T14:16:42.525Z,1628950602.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:42.525Z,1628950602.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:42.527Z,1628950602.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:42.937Z,1628950602.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:43.334Z,1628950603.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00D16,186,80,80,2B,FF
2021-08-14T14:16:43.334Z,1628950603.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:43.797Z,1628950603.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141644.23*5D

2021-08-14T14:16:43.824Z,1628950603.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.500000 m, bearing: 110.542732 deg, deltaT: 4.335456 s, approachRate: 0.581251 m/s, LOS rate: 21.645885 deg/s, posRepo size: 4
2021-08-14T14:16:43.825Z,1628950603.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.645885 deg/s. Setting heading cmd to target bearing of 110.542732deg and heading rate command to 0 deg/s.
2021-08-14T14:16:46.178Z,1628950606.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:46.573Z,1628950606.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:46.573Z,1628950606.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:46.574Z,1628950606.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:46.575Z,1628950606.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:46.984Z,1628950606.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00D16,186,80,80,2B,FF
2021-08-14T14:16:46.985Z,1628950606.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:46.985Z,1628950606.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:46.986Z,1628950606.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:47.377Z,1628950607.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:47.810Z,1628950607.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00D44,186,80,80,2B,FF
2021-08-14T14:16:47.810Z,1628950607.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:47.815Z,1628950607.815 [Micromodem](INFO): Nmea in: $SNTTA,0.247737,0.247718,,,141648.69*52

2021-08-14T14:16:48.224Z,1628950608.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.259995 m, bearing: 74.906207 deg, deltaT: 4.516063 s, approachRate: 0.611151 m/s, LOS rate: -7.891060 deg/s, posRepo size: 4
2021-08-14T14:16:48.226Z,1628950608.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.259995 m,
      bearing: 74.906207 deg,
      approachRate: 0.611151 m/s,
      LOS rate: -7.891060 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 110.542732 deg,
      new cmd heading: 110.542732 deg.

2021-08-14T14:16:50.725Z,1628950610.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:51.017Z,1628950611.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:51.017Z,1628950611.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:51.017Z,1628950611.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:51.018Z,1628950611.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:51.421Z,1628950611.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00D44,186,80,80,2B,FF
2021-08-14T14:16:51.421Z,1628950611.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:51.421Z,1628950611.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:51.423Z,1628950611.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:51.837Z,1628950611.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:52.230Z,1628950612.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,00D44,186,80,80,2B,FF
2021-08-14T14:16:52.230Z,1628950612.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:52.670Z,1628950612.670 [Micromodem](INFO): Nmea in: $SNTTA,0.479545,0.479864,,,141653.13*56

2021-08-14T14:16:52.709Z,1628950612.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.259995 m, bearing: 125.741597 deg, deltaT: 4.383899 s, approachRate: 0.000000 m/s, LOS rate: 11.595931 deg/s, posRepo size: 4
2021-08-14T14:16:52.709Z,1628950612.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.595931 deg/s. Setting heading cmd to target bearing of 125.741597deg and heading rate command to 0 deg/s.
2021-08-14T14:16:54.795Z,1628950614.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:55.049Z,1628950615.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:55.049Z,1628950615.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:55.049Z,1628950615.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:55.050Z,1628950615.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:55.465Z,1628950615.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,00D44,186,80,80,2B,FF
2021-08-14T14:16:55.465Z,1628950615.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:55.465Z,1628950615.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:55.467Z,1628950615.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:55.868Z,1628950615.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:16:56.270Z,1628950616.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00D44,186,80,80,2B,FF
2021-08-14T14:16:56.271Z,1628950616.271 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:16:56.709Z,1628950616.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141657.17*58

2021-08-14T14:16:56.815Z,1628950616.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.259995 m, bearing: 114.904423 deg, deltaT: 4.010851 s, approachRate: 0.000000 m/s, LOS rate: -2.701964 deg/s, posRepo size: 4
2021-08-14T14:16:56.817Z,1628950616.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.259995 m,
      bearing: 114.904423 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.701964 deg/s,
      cmd update: -8.105892 deg/s,
      cmd heading: 125.741597 deg,
      new cmd heading: 125.741597 deg.

2021-08-14T14:16:58.804Z,1628950618.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:16:59.097Z,1628950619.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:16:59.097Z,1628950619.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:16:59.097Z,1628950619.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:16:59.098Z,1628950619.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:16:59.499Z,1628950619.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00D44,186,80,80,2B,FF
2021-08-14T14:16:59.499Z,1628950619.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:16:59.499Z,1628950619.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:16:59.501Z,1628950619.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:16:59.901Z,1628950619.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:00.302Z,1628950620.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E57,000,00D44,186,80,80,2B,FF
2021-08-14T14:17:00.302Z,1628950620.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:00.749Z,1628950620.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141701.20*5E

2021-08-14T14:17:00.838Z,1628950620.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.259995 m, bearing: 109.176093 deg, deltaT: 4.032137 s, approachRate: 0.000000 m/s, LOS rate: -1.420668 deg/s, posRepo size: 4
2021-08-14T14:17:00.840Z,1628950620.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.259995 m,
      bearing: 109.176093 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.420668 deg/s,
      cmd update: -4.262005 deg/s,
      cmd heading: 93.057669 deg,
      new cmd heading: 88.888396 deg.

2021-08-14T14:17:02.834Z,1628950622.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:03.129Z,1628950623.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:03.129Z,1628950623.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:03.129Z,1628950623.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:03.130Z,1628950623.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:03.529Z,1628950623.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E57,000,00D44,186,80,80,2B,FF
2021-08-14T14:17:03.529Z,1628950623.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:03.530Z,1628950623.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:03.531Z,1628950623.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:03.937Z,1628950623.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:04.354Z,1628950624.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,00D44,186,80,80,2B,FF
2021-08-14T14:17:04.354Z,1628950624.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:04.797Z,1628950624.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141705.24*5E

2021-08-14T14:17:04.806Z,1628950624.806 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T14:17:04.851Z,1628950624.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.259995 m, bearing: 56.722406 deg, deltaT: 4.052045 s, approachRate: 0.000000 m/s, LOS rate: -12.944991 deg/s, posRepo size: 4
2021-08-14T14:17:04.852Z,1628950624.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.944991 deg/s. Setting heading cmd to target bearing of 56.722406deg and heading rate command to 0 deg/s.
2021-08-14T14:17:04.856Z,1628950624.856 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T14:17:04.856Z,1628950624.856 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T14:17:04.856Z,1628950624.856 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T14:17:04.856Z,1628950624.856 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T14:17:04.857Z,1628950624.857 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T14:17:05.407Z,1628950625.407 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761150001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T14:17:05.407Z,1628950625.407 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T14:17:05.408Z,1628950625.408 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066FBFAB6442CD5FDEEA29DF8186B0AFF4595561D3FCDE56D02590FBB7B77960CEA1CD94BDBC681CFE015130
2021-08-14T14:17:05.408Z,1628950625.408 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T14:17:05.625Z,1628950625.625 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T14:17:06.037Z,1628950626.037 [Micromodem](INFO): Nmea in: $CADRQ,141707,1,10,0,64,1*72

2021-08-14T14:17:06.037Z,1628950626.037 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761150001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*3E

2021-08-14T14:17:06.441Z,1628950626.441 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:17:06.833Z,1628950626.833 [Micromodem](INFO): Nmea in: $CADRQ,141707,1,10,0,64,2*71

2021-08-14T14:17:06.834Z,1628950626.834 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-14T14:17:07.188Z,1628950627.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:07.353Z,1628950627.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:07.353Z,1628950627.353 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:07.353Z,1628950627.353 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:07.354Z,1628950627.354 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:07.360Z,1628950627.360 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:17:07.726Z,1628950627.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,00D44,186,80,80,2B,FF
2021-08-14T14:17:07.726Z,1628950627.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:07.726Z,1628950627.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:07.734Z,1628950627.734 [Micromodem](INFO): Nmea in: $CADRQ,141708,1,10,0,64,3*7F

2021-08-14T14:17:07.734Z,1628950627.734 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066FBFAB6442CD5FDEEA29DF8186B0AFF4595561D3FCDE56D02590FBB7B77960CEA1CD94BDBC681CFE015130*44

2021-08-14T14:17:08.134Z,1628950628.134 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:17:08.135Z,1628950628.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:08.542Z,1628950628.542 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T14:17:08.542Z,1628950628.542 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T14:17:09.815Z,1628950629.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:12.190Z,1628950632.190 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T14:17:12.190Z,1628950632.190 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T14:17:12.616Z,1628950632.616 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,141709.489025,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*60

2021-08-14T14:17:12.617Z,1628950632.617 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,141709.489025,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*60

2021-08-14T14:17:12.719Z,1628950632.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:13.396Z,1628950633.396 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.041976
2021-08-14T14:17:15.464Z,1628950635.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:15.829Z,1628950635.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:15.829Z,1628950635.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:15.829Z,1628950635.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:15.830Z,1628950635.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:16.241Z,1628950636.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,00D44,186,80,80,2B,FF
2021-08-14T14:17:16.241Z,1628950636.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:16.241Z,1628950636.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:18.484Z,1628950638.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:19.478Z,1628950639.478 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:19.880Z,1628950639.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:20.757Z,1628950640.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,368,000,00E94,188,80,80,A4,FF
2021-08-14T14:17:20.759Z,1628950640.759 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:20.769Z,1628950640.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141721.18*57

2021-08-14T14:17:21.195Z,1628950641.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 17.622180 deg, deltaT: 16.517047 s, approachRate: 1.220557 m/s, LOS rate: -2.367265 deg/s, posRepo size: 4
2021-08-14T14:17:21.198Z,1628950641.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 17.622180 deg,
      approachRate: 1.220557 m/s,
      LOS rate: -2.367265 deg/s,
      cmd update: -7.101794 deg/s,
      cmd heading: 56.722406 deg,
      new cmd heading: 56.722406 deg.

2021-08-14T14:17:23.595Z,1628950643.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:23.987Z,1628950643.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:23.987Z,1628950643.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:23.987Z,1628950643.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:23.988Z,1628950643.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:24.389Z,1628950644.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
368,000,00E94,188,80,80,A4,FF
2021-08-14T14:17:24.389Z,1628950644.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:24.389Z,1628950644.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:24.391Z,1628950644.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:24.833Z,1628950644.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:25.057Z,1628950645.057 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:17:25.234Z,1628950645.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,00EB8,188,80,80,A4,FF
2021-08-14T14:17:25.234Z,1628950645.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:25.657Z,1628950645.657 [Micromodem](INFO): Nmea in: $SNTTA,0.128048,,,,141726.09*49

2021-08-14T14:17:25.679Z,1628950645.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.579987 m, bearing: 19.619881 deg, deltaT: 4.363168 s, approachRate: 0.495050 m/s, LOS rate: 0.457856 deg/s, posRepo size: 4
2021-08-14T14:17:25.682Z,1628950645.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.579987 m,
      bearing: 19.619881 deg,
      approachRate: 0.495050 m/s,
      LOS rate: 0.457856 deg/s,
      cmd update: 1.373567 deg/s,
      cmd heading: 25.715589 deg,
      new cmd heading: 22.711097 deg.

2021-08-14T14:17:28.127Z,1628950648.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:28.465Z,1628950648.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:28.465Z,1628950648.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:28.465Z,1628950648.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:28.466Z,1628950648.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:28.881Z,1628950648.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,00EB8,188,80,80,A4,FF
2021-08-14T14:17:28.881Z,1628950648.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:28.881Z,1628950648.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:28.883Z,1628950648.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:29.277Z,1628950649.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:30.153Z,1628950650.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E9,000,00ED3,186,80,80,B4,FF
2021-08-14T14:17:30.153Z,1628950650.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:30.156Z,1628950650.156 [Micromodem](INFO): Nmea in: $SNTTA,0.129224,,,,141730.59*42

2021-08-14T14:17:30.526Z,1628950650.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.199997 m, bearing: 14.036609 deg, deltaT: 4.926533 s, approachRate: 0.328834 m/s, LOS rate: -1.133306 deg/s, posRepo size: 4
2021-08-14T14:17:30.528Z,1628950650.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.199997 m,
      bearing: 14.036609 deg,
      approachRate: 0.328834 m/s,
      LOS rate: -1.133306 deg/s,
      cmd update: -3.399919 deg/s,
      cmd heading: 32.481179 deg,
      new cmd heading: 32.953163 deg.

2021-08-14T14:17:32.985Z,1628950652.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:33.317Z,1628950653.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:33.317Z,1628950653.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:33.317Z,1628950653.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:33.318Z,1628950653.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:33.725Z,1628950653.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E9,000,00ED3,186,80,80,B4,FF
2021-08-14T14:17:33.725Z,1628950653.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:33.725Z,1628950653.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:33.750Z,1628950653.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:34.137Z,1628950654.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:34.947Z,1628950654.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,023,000,00EE4,185,80,80,B9,FF
2021-08-14T14:17:34.950Z,1628950654.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:34.955Z,1628950654.955 [Micromodem](INFO): Nmea in: $SNTTA,0.129855,,,,141735.45*46

2021-08-14T14:17:34.961Z,1628950654.961 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:17:35.362Z,1628950655.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.220001 m, bearing: 27.878577 deg, deltaT: 4.852837 s, approachRate: 0.210187 m/s, LOS rate: 2.852345 deg/s, posRepo size: 4
2021-08-14T14:17:35.365Z,1628950655.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.220001 m,
      bearing: 27.878577 deg,
      approachRate: 0.210187 m/s,
      LOS rate: 2.852345 deg/s,
      cmd update: 8.557037 deg/s,
      cmd heading: 15.975439 deg,
      new cmd heading: 14.868782 deg.

2021-08-14T14:17:38.011Z,1628950658.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:38.175Z,1628950658.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:38.175Z,1628950658.175 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:38.175Z,1628950658.175 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:38.176Z,1628950658.176 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:38.572Z,1628950658.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
023,000,00EE4,185,80,80,B9,FF
2021-08-14T14:17:38.573Z,1628950658.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:38.573Z,1628950658.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:38.579Z,1628950658.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:38.973Z,1628950658.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:39.809Z,1628950659.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00EED,189,80,80,93,FF
2021-08-14T14:17:39.810Z,1628950659.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:39.812Z,1628950659.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141740.29*52

2021-08-14T14:17:40.231Z,1628950660.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.759995 m, bearing: 317.199395 deg, deltaT: 4.992026 s, approachRate: 0.108171 m/s, LOS rate: -14.158414 deg/s, posRepo size: 4
2021-08-14T14:17:40.232Z,1628950660.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.158414 deg/s. Setting heading cmd to target bearing of 317.199395deg and heading rate command to 0 deg/s.
2021-08-14T14:17:42.697Z,1628950662.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:43.013Z,1628950663.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:43.013Z,1628950663.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:43.013Z,1628950663.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:43.014Z,1628950663.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:43.414Z,1628950663.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00EED,189,80,80,93,FF
2021-08-14T14:17:43.414Z,1628950663.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:43.414Z,1628950663.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:43.416Z,1628950663.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:43.836Z,1628950663.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:44.685Z,1628950664.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,00EFB,189,80,80,B9,FF
2021-08-14T14:17:44.685Z,1628950664.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:44.689Z,1628950664.689 [Micromodem](INFO): Nmea in: $SNTTA,0.130850,,,,141745.12*4E

2021-08-14T14:17:44.697Z,1628950664.697 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T14:17:45.102Z,1628950665.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.599991 m, bearing: 343.537287 deg, deltaT: 4.726004 s, approachRate: 0.177739 m/s, LOS rate: 5.572973 deg/s, posRepo size: 4
2021-08-14T14:17:45.105Z,1628950665.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.599991 m,
      bearing: 343.537287 deg,
      approachRate: 0.177739 m/s,
      LOS rate: 5.572973 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.199395 deg,
      new cmd heading: 317.199395 deg.

2021-08-14T14:17:47.559Z,1628950667.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:47.901Z,1628950667.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:47.901Z,1628950667.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:47.901Z,1628950667.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:47.902Z,1628950667.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:48.305Z,1628950668.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,00EFB,189,80,80,B9,FF
2021-08-14T14:17:48.305Z,1628950668.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:48.305Z,1628950668.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:48.307Z,1628950668.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:48.755Z,1628950668.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:49.521Z,1628950669.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00F17,188,80,80,BC,FF
2021-08-14T14:17:49.522Z,1628950669.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:49.970Z,1628950669.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.279999 m, bearing: 14.949529 deg, deltaT: 4.784063 s, approachRate: 0.351168 m/s, LOS rate: 6.566019 deg/s, posRepo size: 4
2021-08-14T14:17:49.972Z,1628950669.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.279999 m,
      bearing: 14.949529 deg,
      approachRate: 0.351168 m/s,
      LOS rate: 6.566019 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 15.137616 deg,
      new cmd heading: 20.304012 deg.

2021-08-14T14:17:52.151Z,1628950672.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:52.505Z,1628950672.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:52.505Z,1628950672.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:52.505Z,1628950672.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:52.506Z,1628950672.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:52.919Z,1628950672.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00F17,188,80,80,BC,FF
2021-08-14T14:17:52.919Z,1628950672.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:52.919Z,1628950672.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:52.921Z,1628950672.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:53.313Z,1628950673.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:54.149Z,1628950674.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,00F31,189,80,80,C0,FF
2021-08-14T14:17:54.149Z,1628950674.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:54.152Z,1628950674.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141754.62*58

2021-08-14T14:17:54.661Z,1628950674.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.839996 m, bearing: 2.472572 deg, deltaT: 4.712962 s, approachRate: 0.331002 m/s, LOS rate: -2.647370 deg/s, posRepo size: 4
2021-08-14T14:17:54.663Z,1628950674.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.839996 m,
      bearing: 2.472572 deg,
      approachRate: 0.331002 m/s,
      LOS rate: -2.647370 deg/s,
      cmd update: -7.942112 deg/s,
      cmd heading: 71.461622 deg,
      new cmd heading: 76.404158 deg.

2021-08-14T14:17:57.038Z,1628950677.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:17:57.349Z,1628950677.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:17:57.349Z,1628950677.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:17:57.349Z,1628950677.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:17:57.350Z,1628950677.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:17:57.783Z,1628950677.783 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,00F31,189,80,80,C0,FF
2021-08-14T14:17:57.783Z,1628950677.783 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:17:57.783Z,1628950677.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:17:57.785Z,1628950677.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:17:58.289Z,1628950678.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:17:58.693Z,1628950678.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00F41,185,80,80,AB,FF
2021-08-14T14:17:58.693Z,1628950678.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:17:58.717Z,1628950678.717 [Micromodem](INFO): Nmea in: $SNTTA,0.133552,0.340502,,,141759.49*5F

2021-08-14T14:17:59.127Z,1628950679.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.800003 m, bearing: 18.799020 deg, deltaT: 4.561231 s, approachRate: 0.210471 m/s, LOS rate: 3.579395 deg/s, posRepo size: 4
2021-08-14T14:17:59.130Z,1628950679.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.800003 m,
      bearing: 18.799020 deg,
      approachRate: 0.210471 m/s,
      LOS rate: 3.579395 deg/s,
      cmd update: 10.738186 deg/s,
      cmd heading: 35.085059 deg,
      new cmd heading: 32.596089 deg.

2021-08-14T14:18:01.516Z,1628950681.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:01.906Z,1628950681.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:01.906Z,1628950681.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:01.906Z,1628950681.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:01.907Z,1628950681.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:02.313Z,1628950682.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00F41,185,80,80,AB,FF
2021-08-14T14:18:02.313Z,1628950682.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:02.313Z,1628950682.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:02.315Z,1628950682.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:02.709Z,1628950682.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:03.549Z,1628950683.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,00F59,189,80,80,B8,FF
2021-08-14T14:18:03.549Z,1628950683.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:03.552Z,1628950683.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141804.02*54

2021-08-14T14:18:04.014Z,1628950684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.239990 m, bearing: 9.814149 deg, deltaT: 4.785948 s, approachRate: 0.300878 m/s, LOS rate: -1.877344 deg/s, posRepo size: 4
2021-08-14T14:18:04.017Z,1628950684.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.239990 m,
      bearing: 9.814149 deg,
      approachRate: 0.300878 m/s,
      LOS rate: -1.877344 deg/s,
      cmd update: -5.632032 deg/s,
      cmd heading: 86.438329 deg,
      new cmd heading: 90.915144 deg.

2021-08-14T14:18:04.796Z,1628950684.796 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T14:18:06.622Z,1628950686.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:06.837Z,1628950686.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:06.837Z,1628950686.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:06.837Z,1628950686.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:06.838Z,1628950686.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:07.206Z,1628950687.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,00F59,189,80,80,B8,FF
2021-08-14T14:18:07.206Z,1628950687.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:07.206Z,1628950687.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:07.211Z,1628950687.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:07.619Z,1628950687.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:08.433Z,1628950688.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,229,000,00F82,189,80,80,6C,FF
2021-08-14T14:18:08.433Z,1628950688.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:08.436Z,1628950688.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141808.91*52

2021-08-14T14:18:08.911Z,1628950688.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.699997 m, bearing: 28.981077 deg, deltaT: 4.873077 s, approachRate: 0.504816 m/s, LOS rate: 3.933229 deg/s, posRepo size: 4
2021-08-14T14:18:08.913Z,1628950688.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.699997 m,
      bearing: 28.981077 deg,
      approachRate: 0.504816 m/s,
      LOS rate: 3.933229 deg/s,
      cmd update: 11.799686 deg/s,
      cmd heading: 59.087751 deg,
      new cmd heading: 56.501758 deg.

2021-08-14T14:18:10.445Z,1628950690.445 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T14:18:11.015Z,1628950691.015 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761150001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T14:18:11.015Z,1628950691.015 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T14:18:11.016Z,1628950691.016 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066FBFAB6442CD5FDEEA29DF8186B0AFF4595561D3FCDE56D02590FBB7B77960CEA1CD94BDBC681CFE015130
2021-08-14T14:18:11.016Z,1628950691.016 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T14:18:11.291Z,1628950691.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:11.557Z,1628950691.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:11.557Z,1628950691.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:11.557Z,1628950691.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:11.558Z,1628950691.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:11.604Z,1628950691.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
229,000,00F82,189,80,80,6C,FF
2021-08-14T14:18:11.604Z,1628950691.604 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:11.604Z,1628950691.604 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:11.606Z,1628950691.606 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T14:18:11.607Z,1628950691.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:12.015Z,1628950692.015 [Micromodem](INFO): Nmea in: $CADRQ,141812,1,10,0,64,1*79

2021-08-14T14:18:12.015Z,1628950692.015 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,141812,1,10,0,64,1*79

2021-08-14T14:18:12.419Z,1628950692.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:12.845Z,1628950692.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,00FAF,189,80,80,AE,FF
2021-08-14T14:18:12.846Z,1628950692.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:12.849Z,1628950692.849 [Micromodem](INFO): Nmea in: $SNTTA,0.137946,,,,141813.31*42

2021-08-14T14:18:13.431Z,1628950693.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.399994 m, bearing: 97.140692 deg, deltaT: 4.498737 s, approachRate: 0.600168 m/s, LOS rate: 15.150835 deg/s, posRepo size: 4
2021-08-14T14:18:13.432Z,1628950693.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.150835 deg/s. Setting heading cmd to target bearing of 97.140692deg and heading rate command to 0 deg/s.
2021-08-14T14:18:14.862Z,1628950694.862 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T14:18:15.667Z,1628950695.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:16.052Z,1628950696.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:16.052Z,1628950696.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:16.053Z,1628950696.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:16.053Z,1628950696.053 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:16.450Z,1628950696.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,00FAF,189,80,80,AE,FF
2021-08-14T14:18:16.450Z,1628950696.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:16.450Z,1628950696.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:16.452Z,1628950696.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:16.853Z,1628950696.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:17.689Z,1628950697.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00FDA,186,80,80,9F,FF
2021-08-14T14:18:17.690Z,1628950697.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:17.693Z,1628950697.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141818.15*5F

2021-08-14T14:18:18.248Z,1628950698.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.979996 m, bearing: 93.212418 deg, deltaT: 5.021234 s, approachRate: 0.513818 m/s, LOS rate: -0.782332 deg/s, posRepo size: 4
2021-08-14T14:18:18.250Z,1628950698.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.979996 m,
      bearing: 93.212418 deg,
      approachRate: 0.513818 m/s,
      LOS rate: -0.782332 deg/s,
      cmd update: -2.346997 deg/s,
      cmd heading: 97.140692 deg,
      new cmd heading: 97.140692 deg.

2021-08-14T14:18:20.713Z,1628950700.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:21.037Z,1628950701.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:21.037Z,1628950701.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:21.037Z,1628950701.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:21.038Z,1628950701.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:21.445Z,1628950701.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00FDA,186,80,80,9F,FF
2021-08-14T14:18:21.445Z,1628950701.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:21.445Z,1628950701.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:21.447Z,1628950701.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:21.852Z,1628950701.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:22.686Z,1628950702.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0101B,186,80,80,5D,FF
2021-08-14T14:18:22.686Z,1628950702.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:22.691Z,1628950702.691 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141823.15*57

2021-08-14T14:18:23.108Z,1628950703.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.879990 m, bearing: 96.810459 deg, deltaT: 4.836957 s, approachRate: 0.806291 m/s, LOS rate: 0.743865 deg/s, posRepo size: 4
2021-08-14T14:18:23.110Z,1628950703.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.879990 m,
      bearing: 96.810459 deg,
      approachRate: 0.806291 m/s,
      LOS rate: 0.743865 deg/s,
      cmd update: 2.231594 deg/s,
      cmd heading: 85.807717 deg,
      new cmd heading: 85.172645 deg.

2021-08-14T14:18:25.583Z,1628950705.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:25.939Z,1628950705.939 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:25.939Z,1628950705.939 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:25.940Z,1628950705.940 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:25.941Z,1628950705.941 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:26.329Z,1628950706.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0101B,186,80,80,5D,FF
2021-08-14T14:18:26.329Z,1628950706.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:26.330Z,1628950706.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:26.331Z,1628950706.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:26.946Z,1628950706.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:27.325Z,1628950707.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,01057,187,80,80,9B,FF
2021-08-14T14:18:27.325Z,1628950707.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:27.777Z,1628950707.777 [Micromodem](INFO): Nmea in: $SNTTA,0.144213,,,,141828.04*43

2021-08-14T14:18:27.835Z,1628950707.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.479996 m, bearing: 98.081305 deg, deltaT: 4.554922 s, approachRate: 0.790355 m/s, LOS rate: 0.279005 deg/s, posRepo size: 4
2021-08-14T14:18:27.837Z,1628950707.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.479996 m,
      bearing: 98.081305 deg,
      approachRate: 0.790355 m/s,
      LOS rate: 0.279005 deg/s,
      cmd update: 0.837015 deg/s,
      cmd heading: 95.981877 deg,
      new cmd heading: 96.996284 deg.

2021-08-14T14:18:30.195Z,1628950710.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:30.558Z,1628950710.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:30.558Z,1628950710.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:30.559Z,1628950710.559 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:30.560Z,1628950710.560 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:31.049Z,1628950711.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,01057,187,80,80,9B,FF
2021-08-14T14:18:31.049Z,1628950711.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:31.050Z,1628950711.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:31.051Z,1628950711.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:31.785Z,1628950711.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:32.137Z,1628950712.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,0108F,185,80,80,71,FF
2021-08-14T14:18:32.138Z,1628950712.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:32.581Z,1628950712.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141832.76*52

2021-08-14T14:18:32.666Z,1628950712.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.839996 m, bearing: 116.769734 deg, deltaT: 4.799504 s, approachRate: 0.700072 m/s, LOS rate: 3.893825 deg/s, posRepo size: 4
2021-08-14T14:18:32.681Z,1628950712.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.839996 m,
      bearing: 116.769734 deg,
      approachRate: 0.700072 m/s,
      LOS rate: 3.893825 deg/s,
      cmd update: 11.681475 deg/s,
      cmd heading: 99.998939 deg,
      new cmd heading: 100.406566 deg.

2021-08-14T14:18:34.715Z,1628950714.715 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:18:34.782Z,1628950714.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:35.013Z,1628950715.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:35.013Z,1628950715.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:35.013Z,1628950715.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:35.014Z,1628950715.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:35.414Z,1628950715.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,0108F,185,80,80,71,FF
2021-08-14T14:18:35.414Z,1628950715.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:35.414Z,1628950715.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:35.433Z,1628950715.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:35.836Z,1628950715.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:36.681Z,1628950716.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,010B5,189,80,80,4C,FF
2021-08-14T14:18:36.682Z,1628950716.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:36.684Z,1628950716.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141837.14*53

2021-08-14T14:18:37.159Z,1628950717.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.119980 m, bearing: 143.677441 deg, deltaT: 4.646224 s, approachRate: 0.490718 m/s, LOS rate: 5.791307 deg/s, posRepo size: 4
2021-08-14T14:18:37.178Z,1628950717.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.119980 m,
      bearing: 143.677441 deg,
      approachRate: 0.490718 m/s,
      LOS rate: 5.791307 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 154.276237 deg,
      new cmd heading: 158.173866 deg.

2021-08-14T14:18:39.589Z,1628950719.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:39.949Z,1628950719.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:39.949Z,1628950719.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:39.949Z,1628950719.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:39.950Z,1628950719.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:40.360Z,1628950720.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0B,000,010B5,189,80,80,4C,FF
2021-08-14T14:18:40.360Z,1628950720.360 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:40.360Z,1628950720.360 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:40.362Z,1628950720.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:40.791Z,1628950720.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:41.170Z,1628950721.170 [Micromodem](INFO): Nmea in: $CAERR,141842,DATA_TIMEOUT,1*44

2021-08-14T14:18:41.589Z,1628950721.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,010ED,187,80,80,95,FF
2021-08-14T14:18:41.589Z,1628950721.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:41.592Z,1628950721.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141842.06*52

2021-08-14T14:18:42.012Z,1628950722.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.479980 m, bearing: 140.723699 deg, deltaT: 4.801807 s, approachRate: 0.699737 m/s, LOS rate: -0.615131 deg/s, posRepo size: 4
2021-08-14T14:18:42.014Z,1628950722.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.479980 m,
      bearing: 140.723699 deg,
      approachRate: 0.699737 m/s,
      LOS rate: -0.615131 deg/s,
      cmd update: -1.845394 deg/s,
      cmd heading: 211.657142 deg,
      new cmd heading: 216.508598 deg.

2021-08-14T14:18:44.817Z,1628950724.817 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:18:44.868Z,1628950724.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:45.037Z,1628950725.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:45.037Z,1628950725.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:45.037Z,1628950725.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:45.038Z,1628950725.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:45.445Z,1628950725.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,010ED,187,80,80,95,FF
2021-08-14T14:18:45.445Z,1628950725.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:45.445Z,1628950725.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:45.447Z,1628950725.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:45.852Z,1628950725.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:46.681Z,1628950726.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,01111,186,80,80,94,FF
2021-08-14T14:18:46.681Z,1628950726.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:46.684Z,1628950726.684 [Micromodem](INFO): Nmea in: $SNTTA,0.151684,,,,141847.15*44

2021-08-14T14:18:47.206Z,1628950727.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.639984 m, bearing: 157.091469 deg, deltaT: 5.337955 s, approachRate: 0.404650 m/s, LOS rate: 3.066300 deg/s, posRepo size: 4
2021-08-14T14:18:47.208Z,1628950727.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.639984 m,
      bearing: 157.091469 deg,
      approachRate: 0.404650 m/s,
      LOS rate: 3.066300 deg/s,
      cmd update: 9.198899 deg/s,
      cmd heading: 201.762998 deg,
      new cmd heading: 201.325325 deg.

2021-08-14T14:18:49.646Z,1628950729.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:49.991Z,1628950729.991 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:49.991Z,1628950729.991 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:49.991Z,1628950729.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:49.995Z,1628950729.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:50.399Z,1628950730.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,01111,186,80,80,94,FF
2021-08-14T14:18:50.399Z,1628950730.399 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:50.399Z,1628950730.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:50.403Z,1628950730.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:50.821Z,1628950730.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:51.644Z,1628950731.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141852.11*55

2021-08-14T14:18:52.490Z,1628950732.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:54.022Z,1628950734.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,94,FF
2021-08-14T14:18:54.022Z,1628950734.022 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,94,FF
2021-08-14T14:18:54.022Z,1628950734.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:18:55.283Z,1628950735.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:18:55.640Z,1628950735.640 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:18:55.641Z,1628950735.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:18:55.641Z,1628950735.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:18:55.642Z,1628950735.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:18:56.055Z,1628950736.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,94,FF
2021-08-14T14:18:56.055Z,1628950736.055 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:18:56.055Z,1628950736.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:18:56.057Z,1628950736.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:18:56.467Z,1628950736.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:18:57.289Z,1628950737.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFB,000,0112A,189,80,80,96,FF
2021-08-14T14:18:57.289Z,1628950737.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:18:57.292Z,1628950737.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141857.77*50

2021-08-14T14:18:57.935Z,1628950737.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.139999 m, bearing: 226.577947 deg, deltaT: 10.389991 s, approachRate: 0.144371 m/s, LOS rate: 6.687828 deg/s, posRepo size: 4
2021-08-14T14:18:57.938Z,1628950737.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.139999 m,
      bearing: 226.577947 deg,
      approachRate: 0.144371 m/s,
      LOS rate: 6.687828 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 297.085851 deg,
      new cmd heading: 302.641139 deg.

2021-08-14T14:18:59.967Z,1628950739.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:00.145Z,1628950740.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:00.145Z,1628950740.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:00.146Z,1628950740.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:00.147Z,1628950740.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:00.539Z,1628950740.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFB,000,0112A,189,80,80,96,FF
2021-08-14T14:19:00.539Z,1628950740.539 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:00.539Z,1628950740.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:00.545Z,1628950740.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:00.957Z,1628950740.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:01.778Z,1628950741.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0111E,189,80,80,AF,FF
2021-08-14T14:19:01.778Z,1628950741.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:01.786Z,1628950741.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141902.25*56

2021-08-14T14:19:02.192Z,1628950742.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.419998 m, bearing: 275.240504 deg, deltaT: 4.497515 s, approachRate: -0.160089 m/s, LOS rate: 10.819877 deg/s, posRepo size: 4
2021-08-14T14:19:02.194Z,1628950742.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.419998 m,
      bearing: 275.240504 deg,
      approachRate: -0.160089 m/s,
      LOS rate: 10.819877 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.293993 deg,
      new cmd heading: 355.407053 deg.

2021-08-14T14:19:04.422Z,1628950744.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:04.693Z,1628950744.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:04.693Z,1628950744.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:04.693Z,1628950744.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:04.694Z,1628950744.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:05.030Z,1628950745.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0111E,189,80,80,AF,FF
2021-08-14T14:19:05.030Z,1628950745.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:05.030Z,1628950745.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:05.033Z,1628950745.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:05.436Z,1628950745.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:06.265Z,1628950746.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,01102,189,80,80,9B,FF
2021-08-14T14:19:06.266Z,1628950746.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:06.268Z,1628950746.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141906.74*56

2021-08-14T14:19:06.911Z,1628950746.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.739990 m, bearing: 266.312873 deg, deltaT: 4.670560 s, approachRate: -0.359702 m/s, LOS rate: -1.911469 deg/s, posRepo size: 4
2021-08-14T14:19:06.914Z,1628950746.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.739990 m,
      bearing: 266.312873 deg,
      approachRate: -0.359702 m/s,
      LOS rate: -1.911469 deg/s,
      cmd update: -5.734407 deg/s,
      cmd heading: 47.247378 deg,
      new cmd heading: 52.044846 deg.

2021-08-14T14:19:09.287Z,1628950749.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:09.661Z,1628950749.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:09.661Z,1628950749.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:09.661Z,1628950749.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:09.662Z,1628950749.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:10.049Z,1628950750.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,01102,189,80,80,9B,FF
2021-08-14T14:19:10.050Z,1628950750.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:10.050Z,1628950750.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:10.051Z,1628950750.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:10.461Z,1628950750.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:10.997Z,1628950750.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,00ECE,188,80,80,A8,FF
2021-08-14T14:19:10.997Z,1628950750.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:11.413Z,1628950751.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141911.76*52

2021-08-14T14:19:11.445Z,1628950751.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.899994 m, bearing: 277.152821 deg, deltaT: 4.511230 s, approachRate: -7.501279 m/s, LOS rate: 2.402881 deg/s, posRepo size: 4
2021-08-14T14:19:11.447Z,1628950751.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.899994 m,
      bearing: 277.152821 deg,
      approachRate: -7.501279 m/s,
      LOS rate: 2.402881 deg/s,
      cmd update: 7.208641 deg/s,
      cmd heading: 21.309916 deg,
      new cmd heading: 18.960953 deg.

2021-08-14T14:19:14.010Z,1628950754.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:14.342Z,1628950754.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:14.342Z,1628950754.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:14.342Z,1628950754.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:14.343Z,1628950754.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:14.761Z,1628950754.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,00ECE,188,80,80,A8,FF
2021-08-14T14:19:14.761Z,1628950754.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:14.762Z,1628950754.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:14.777Z,1628950754.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:15.264Z,1628950755.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:15.665Z,1628950755.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,010AB,182,80,80,A8,FF
2021-08-14T14:19:15.666Z,1628950755.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:16.076Z,1628950756.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141916.48*58

2021-08-14T14:19:16.077Z,1628950756.077 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T14:19:16.102Z,1628950756.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.519989 m, bearing: 269.957681 deg, deltaT: 4.682233 s, approachRate: 6.112467 m/s, LOS rate: -1.536690 deg/s, posRepo size: 4
2021-08-14T14:19:16.117Z,1628950756.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.519989 m,
      bearing: 269.957681 deg,
      approachRate: 6.112467 m/s,
      LOS rate: -1.536690 deg/s,
      cmd update: -4.610069 deg/s,
      cmd heading: 55.010012 deg,
      new cmd heading: 57.839685 deg.

2021-08-14T14:19:16.727Z,1628950756.727 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761150001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T14:19:16.729Z,1628950756.729 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T14:19:16.730Z,1628950756.730 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066FBFAB6442CD5FDEEA29DF8186B0AFF4595561D3FCDE56D02590FBB7B77960CEA1CD94BDBC681CFE015130
2021-08-14T14:19:16.730Z,1628950756.730 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T14:19:17.441Z,1628950757.441 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T14:19:17.843Z,1628950757.843 [Micromodem](INFO): Nmea in: $CADRQ,141918,1,10,0,64,1*72

2021-08-14T14:19:17.844Z,1628950757.844 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761150001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*3E

2021-08-14T14:19:18.234Z,1628950758.234 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:19:18.298Z,1628950758.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:18.661Z,1628950758.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:18.661Z,1628950758.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:18.661Z,1628950758.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:18.662Z,1628950758.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:18.681Z,1628950758.681 [Micromodem](INFO): Nmea in: $CADRQ,141919,1,10,0,64,2*70

2021-08-14T14:19:18.682Z,1628950758.682 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-14T14:19:19.057Z,1628950759.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,010AB,182,80,80,A8,FF
2021-08-14T14:19:19.057Z,1628950759.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:19.057Z,1628950759.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:19.059Z,1628950759.059 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:19:19.060Z,1628950759.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:19.559Z,1628950759.559 [Micromodem](INFO): Nmea in: $CADRQ,141920,1,10,0,64,3*7B

2021-08-14T14:19:19.559Z,1628950759.559 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,141920,1,10,0,64,3*7B

2021-08-14T14:19:19.965Z,1628950759.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,0107F,186,80,80,8E,FF
2021-08-14T14:19:19.966Z,1628950759.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:19.970Z,1628950759.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:20.378Z,1628950760.378 [Micromodem](INFO): Nmea in: $SNTTA,0.146127,,,,141920.76*49

2021-08-14T14:19:20.436Z,1628950760.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.879990 m, bearing: 269.176416 deg, deltaT: 4.330214 s, approachRate: -0.609670 m/s, LOS rate: -0.180422 deg/s, posRepo size: 4
2021-08-14T14:19:20.438Z,1628950760.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.879990 m,
      bearing: 269.176416 deg,
      approachRate: -0.609670 m/s,
      LOS rate: -0.180422 deg/s,
      cmd update: -0.541265 deg/s,
      cmd heading: 34.994870 deg,
      new cmd heading: 33.223538 deg.

2021-08-14T14:19:22.875Z,1628950762.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:23.196Z,1628950763.196 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:23.197Z,1628950763.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:23.197Z,1628950763.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:23.198Z,1628950763.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:23.614Z,1628950763.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,0107F,186,80,80,8E,FF
2021-08-14T14:19:23.614Z,1628950763.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:23.614Z,1628950763.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:23.616Z,1628950763.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:24.149Z,1628950764.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:24.568Z,1628950764.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CA,000,01058,188,80,80,A8,FF
2021-08-14T14:19:24.570Z,1628950764.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:24.961Z,1628950764.961 [Micromodem](INFO): Nmea in: $SNTTA,0.144859,,,,141925.32*4E

2021-08-14T14:19:25.015Z,1628950765.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.539978 m, bearing: 263.724696 deg, deltaT: 4.663723 s, approachRate: -0.501748 m/s, LOS rate: -1.168963 deg/s, posRepo size: 4
2021-08-14T14:19:25.018Z,1628950765.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.539978 m,
      bearing: 263.724696 deg,
      approachRate: -0.501748 m/s,
      LOS rate: -1.168963 deg/s,
      cmd update: -3.506890 deg/s,
      cmd heading: 32.473524 deg,
      new cmd heading: 32.308010 deg.

2021-08-14T14:19:27.462Z,1628950767.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:27.864Z,1628950767.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:27.864Z,1628950767.864 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:27.864Z,1628950767.864 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:27.865Z,1628950767.865 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:28.245Z,1628950768.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CA,000,01058,188,80,80,A8,FF
2021-08-14T14:19:28.245Z,1628950768.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:28.245Z,1628950768.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:28.247Z,1628950768.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:28.682Z,1628950768.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:29.491Z,1628950769.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0103C,18A,80,80,A6,FF
2021-08-14T14:19:29.492Z,1628950769.492 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:29.495Z,1628950769.495 [Micromodem](INFO): Nmea in: $SNTTA,0.143270,,,,141929.95*49

2021-08-14T14:19:29.927Z,1628950769.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.860001 m, bearing: 270.217638 deg, deltaT: 4.795248 s, approachRate: -0.350342 m/s, LOS rate: 1.354037 deg/s, posRepo size: 4
2021-08-14T14:19:29.929Z,1628950769.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.860001 m,
      bearing: 270.217638 deg,
      approachRate: -0.350342 m/s,
      LOS rate: 1.354037 deg/s,
      cmd update: 4.062110 deg/s,
      cmd heading: 15.637723 deg,
      new cmd heading: 14.175507 deg.

2021-08-14T14:19:32.511Z,1628950772.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:32.730Z,1628950772.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:32.730Z,1628950772.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:32.730Z,1628950772.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:32.731Z,1628950772.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:33.127Z,1628950773.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0103C,18A,80,80,A6,FF
2021-08-14T14:19:33.127Z,1628950773.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:33.127Z,1628950773.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:33.149Z,1628950773.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:33.533Z,1628950773.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:34.350Z,1628950774.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5E,000,01028,188,80,80,A6,FF
2021-08-14T14:19:34.351Z,1628950774.351 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:34.356Z,1628950774.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141934.85*59

2021-08-14T14:19:34.834Z,1628950774.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.659973 m, bearing: 27.444911 deg, deltaT: 4.896132 s, approachRate: -0.245097 m/s, LOS rate: 23.942832 deg/s, posRepo size: 4
2021-08-14T14:19:34.835Z,1628950774.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.942832 deg/s. Setting heading cmd to target bearing of 27.444911deg and heading rate command to 0 deg/s.
2021-08-14T14:19:37.031Z,1628950777.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:37.267Z,1628950777.267 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:37.267Z,1628950777.267 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:37.267Z,1628950777.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:37.268Z,1628950777.268 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:37.685Z,1628950777.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5E,000,01028,188,80,80,A6,FF
2021-08-14T14:19:37.685Z,1628950777.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:37.686Z,1628950777.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:37.687Z,1628950777.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:38.069Z,1628950778.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:38.887Z,1628950778.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D0,000,01028,187,80,80,92,FF
2021-08-14T14:19:38.888Z,1628950778.888 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:38.897Z,1628950778.897 [Micromodem](INFO): Nmea in: $SNTTA,0.142352,,,,141939.39*4E

2021-08-14T14:19:39.376Z,1628950779.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.659973 m, bearing: 1.948028 deg, deltaT: 4.741046 s, approachRate: 0.000000 m/s, LOS rate: -5.377902 deg/s, posRepo size: 4
2021-08-14T14:19:39.378Z,1628950779.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.659973 m,
      bearing: 1.948028 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.377902 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 27.444911 deg,
      new cmd heading: 27.444911 deg.

2021-08-14T14:19:41.819Z,1628950781.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:42.157Z,1628950782.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:42.157Z,1628950782.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:42.157Z,1628950782.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:42.158Z,1628950782.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:42.596Z,1628950782.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D0,000,01028,187,80,80,92,FF
2021-08-14T14:19:42.597Z,1628950782.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:42.597Z,1628950782.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:42.606Z,1628950782.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:42.973Z,1628950782.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:43.817Z,1628950783.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,0103A,188,80,80,C9,FF
2021-08-14T14:19:43.818Z,1628950783.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:43.821Z,1628950783.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141944.31*51

2021-08-14T14:19:44.218Z,1628950784.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.739990 m, bearing: 351.302119 deg, deltaT: 4.736161 s, approachRate: 0.228036 m/s, LOS rate: -2.247792 deg/s, posRepo size: 4
2021-08-14T14:19:44.220Z,1628950784.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.739990 m,
      bearing: 351.302119 deg,
      approachRate: 0.228036 m/s,
      LOS rate: -2.247792 deg/s,
      cmd update: -6.743377 deg/s,
      cmd heading: 330.516249 deg,
      new cmd heading: 326.418669 deg.

2021-08-14T14:19:46.787Z,1628950786.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:47.005Z,1628950787.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:47.005Z,1628950787.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:47.005Z,1628950787.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:47.006Z,1628950787.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:47.421Z,1628950787.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,0103A,188,80,80,C9,FF
2021-08-14T14:19:47.421Z,1628950787.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:47.422Z,1628950787.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:47.423Z,1628950787.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:47.825Z,1628950787.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:48.665Z,1628950788.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,01054,189,80,80,A2,FF
2021-08-14T14:19:48.665Z,1628950788.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:48.669Z,1628950788.669 [Micromodem](INFO): Nmea in: $SNTTA,0.144589,,,,141949.13*47

2021-08-14T14:19:49.092Z,1628950789.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.299988 m, bearing: 343.969583 deg, deltaT: 4.921989 s, approachRate: 0.316945 m/s, LOS rate: -1.489751 deg/s, posRepo size: 4
2021-08-14T14:19:49.094Z,1628950789.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.299988 m,
      bearing: 343.969583 deg,
      approachRate: 0.316945 m/s,
      LOS rate: -1.489751 deg/s,
      cmd update: -4.469252 deg/s,
      cmd heading: 297.298295 deg,
      new cmd heading: 295.341326 deg.

2021-08-14T14:19:49.865Z,1628950789.865 [Micromodem](INFO): Nmea in: $CAERR,141950,DATA_TIMEOUT,3*44

2021-08-14T14:19:50.261Z,1628950790.261 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-14T14:19:51.530Z,1628950791.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:51.863Z,1628950791.863 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:51.863Z,1628950791.863 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:51.865Z,1628950791.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:51.866Z,1628950791.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:51.871Z,1628950791.871 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-14T14:19:52.345Z,1628950792.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,01054,189,80,80,A2,FF
2021-08-14T14:19:52.345Z,1628950792.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:52.345Z,1628950792.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:52.348Z,1628950792.348 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,141950.444149,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*68

2021-08-14T14:19:52.349Z,1628950792.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:52.778Z,1628950792.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:53.585Z,1628950793.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E1,000,0105E,189,80,80,9F,FF
2021-08-14T14:19:53.585Z,1628950793.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:53.588Z,1628950793.588 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141954.05*57

2021-08-14T14:19:54.014Z,1628950794.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.899994 m, bearing: 298.950850 deg, deltaT: 4.797824 s, approachRate: 0.125058 m/s, LOS rate: -9.383157 deg/s, posRepo size: 4
2021-08-14T14:19:54.016Z,1628950794.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.899994 m,
      bearing: 298.950850 deg,
      approachRate: 0.125058 m/s,
      LOS rate: -9.383157 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 275.838274 deg,
      new cmd heading: 274.003548 deg.

2021-08-14T14:19:56.672Z,1628950796.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:19:56.829Z,1628950796.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:19:56.829Z,1628950796.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:19:56.829Z,1628950796.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:19:56.830Z,1628950796.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:19:57.205Z,1628950797.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E1,000,0105E,189,80,80,9F,FF
2021-08-14T14:19:57.205Z,1628950797.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:19:57.205Z,1628950797.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:19:57.207Z,1628950797.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:19:57.612Z,1628950797.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:19:58.425Z,1628950798.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01058,189,80,80,AB,FF
2021-08-14T14:19:58.426Z,1628950798.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:19:58.429Z,1628950798.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141958.91*56

2021-08-14T14:19:58.919Z,1628950798.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.539978 m, bearing: 278.657347 deg, deltaT: 5.122402 s, approachRate: -0.070283 m/s, LOS rate: -3.961716 deg/s, posRepo size: 4
2021-08-14T14:19:58.921Z,1628950798.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.539978 m,
      bearing: 278.657347 deg,
      approachRate: -0.070283 m/s,
      LOS rate: -3.961716 deg/s,
      cmd update: -11.885149 deg/s,
      cmd heading: 214.468941 deg,
      new cmd heading: 212.050305 deg.

2021-08-14T14:20:01.336Z,1628950801.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:01.701Z,1628950801.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:01.701Z,1628950801.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:01.701Z,1628950801.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:01.702Z,1628950801.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:02.114Z,1628950802.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01058,189,80,80,AB,FF
2021-08-14T14:20:02.114Z,1628950802.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:02.114Z,1628950802.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:02.116Z,1628950802.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:02.513Z,1628950802.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:03.337Z,1628950803.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01048,189,80,80,AE,FF
2021-08-14T14:20:03.337Z,1628950803.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:20:03.340Z,1628950803.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142003.82*50

2021-08-14T14:20:03.805Z,1628950803.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.580002 m, bearing: 258.069245 deg, deltaT: 4.662013 s, approachRate: -0.205915 m/s, LOS rate: -4.416140 deg/s, posRepo size: 4
2021-08-14T14:20:03.807Z,1628950803.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.580002 m,
      bearing: 258.069245 deg,
      approachRate: -0.205915 m/s,
      LOS rate: -4.416140 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 159.340283 deg,
      new cmd heading: 154.006906 deg.

2021-08-14T14:20:06.214Z,1628950806.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:06.560Z,1628950806.560 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:06.560Z,1628950806.560 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:06.561Z,1628950806.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:06.562Z,1628950806.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:06.965Z,1628950806.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01048,189,80,80,AE,FF
2021-08-14T14:20:06.965Z,1628950806.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:06.965Z,1628950806.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:06.967Z,1628950806.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:07.357Z,1628950807.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:08.182Z,1628950808.182 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142008.67*50

2021-08-14T14:20:09.034Z,1628950809.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:10.614Z,1628950810.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,AE,FF
2021-08-14T14:20:10.615Z,1628950810.615 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,AE,FF
2021-08-14T14:20:10.615Z,1628950810.615 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:20:11.603Z,1628950811.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:11.899Z,1628950811.899 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:11.899Z,1628950811.899 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:11.899Z,1628950811.899 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:11.900Z,1628950811.900 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:12.205Z,1628950812.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,AE,FF
2021-08-14T14:20:12.205Z,1628950812.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:12.205Z,1628950812.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:12.207Z,1628950812.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:12.661Z,1628950812.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:13.446Z,1628950813.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,311,000,00FFB,189,80,80,B8,FF
2021-08-14T14:20:13.447Z,1628950813.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:20:13.450Z,1628950813.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142013.91*53

2021-08-14T14:20:13.891Z,1628950813.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.960007 m, bearing: 255.013527 deg, deltaT: 10.118120 s, approachRate: -0.456606 m/s, LOS rate: -0.302004 deg/s, posRepo size: 4
2021-08-14T14:20:13.898Z,1628950813.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.960007 m,
      bearing: 255.013527 deg,
      approachRate: -0.456606 m/s,
      LOS rate: -0.302004 deg/s,
      cmd update: -0.906013 deg/s,
      cmd heading: 37.586743 deg,
      new cmd heading: 32.922955 deg.

2021-08-14T14:20:16.405Z,1628950816.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:16.513Z,1628950816.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:16.513Z,1628950816.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:16.513Z,1628950816.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:16.514Z,1628950816.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:16.909Z,1628950816.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
311,000,00FFB,189,80,80,B8,FF
2021-08-14T14:20:16.909Z,1628950816.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:16.909Z,1628950816.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:16.911Z,1628950816.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:17.313Z,1628950817.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:18.141Z,1628950818.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46A,000,00FD2,189,80,80,AE,FF
2021-08-14T14:20:18.141Z,1628950818.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:20:18.145Z,1628950818.145 [Micromodem](INFO): Nmea in: $SNTTA,0.139087,,,,142018.61*4D

2021-08-14T14:20:18.625Z,1628950818.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.499985 m, bearing: 253.997578 deg, deltaT: 4.880428 s, approachRate: -0.504059 m/s, LOS rate: -0.208168 deg/s, posRepo size: 4
2021-08-14T14:20:18.627Z,1628950818.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.499985 m,
      bearing: 253.997578 deg,
      approachRate: -0.504059 m/s,
      LOS rate: -0.208168 deg/s,
      cmd update: -0.624504 deg/s,
      cmd heading: 33.161325 deg,
      new cmd heading: 32.954108 deg.

2021-08-14T14:20:21.011Z,1628950821.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:21.349Z,1628950821.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:21.349Z,1628950821.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:21.350Z,1628950821.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:21.351Z,1628950821.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:21.778Z,1628950821.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46A,000,00FD2,189,80,80,AE,FF
2021-08-14T14:20:21.778Z,1628950821.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:21.778Z,1628950821.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:21.780Z,1628950821.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:22.156Z,1628950822.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:22.168Z,1628950822.168 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T14:20:22.816Z,1628950822.816 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761150001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T14:20:22.817Z,1628950822.817 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T14:20:22.817Z,1628950822.817 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066FBFAB6442CD5FDEEA29DF8186B0AFF4595561D3FCDE56D02590FBB7B77960CEA1CD94BDBC681CFE015130
2021-08-14T14:20:22.818Z,1628950822.818 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T14:20:23.257Z,1628950823.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,00FB4,189,80,80,A3,FF
2021-08-14T14:20:23.257Z,1628950823.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:20:23.260Z,1628950823.260 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T14:20:23.665Z,1628950823.665 [Micromodem](INFO): Nmea in: $CADRQ,142024,1,10,0,64,1*77

2021-08-14T14:20:23.666Z,1628950823.666 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761150001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*3E

2021-08-14T14:20:23.785Z,1628950823.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.699982 m, bearing: 8.078767 deg, deltaT: 4.921514 s, approachRate: -0.365742 m/s, LOS rate: 23.180101 deg/s, posRepo size: 4
2021-08-14T14:20:23.786Z,1628950823.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.180101 deg/s. Setting heading cmd to target bearing of 8.078767deg and heading rate command to 0 deg/s.
2021-08-14T14:20:24.061Z,1628950824.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142023.49*55

2021-08-14T14:20:24.061Z,1628950824.061 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,142023.49*55

2021-08-14T14:20:25.281Z,1628950825.281 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:20:25.760Z,1628950825.760 [Micromodem](INFO): Nmea in: $CADRQ,142025,1,10,0,64,2*75

2021-08-14T14:20:25.762Z,1628950825.762 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-14T14:20:25.895Z,1628950825.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:26.067Z,1628950826.067 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:26.067Z,1628950826.067 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:26.067Z,1628950826.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:26.076Z,1628950826.076 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:26.084Z,1628950826.084 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:20:26.481Z,1628950826.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,00FB4,189,80,80,A3,FF
2021-08-14T14:20:26.481Z,1628950826.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:26.481Z,1628950826.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:26.483Z,1628950826.483 [Micromodem](INFO): Nmea in: $CADRQ,142027,1,10,0,64,3*76

2021-08-14T14:20:26.483Z,1628950826.483 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066FBFAB6442CD5FDEEA29DF8186B0AFF4595561D3FCDE56D02590FBB7B77960CEA1CD94BDBC681CFE015130*44

2021-08-14T14:20:26.886Z,1628950826.886 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:20:26.886Z,1628950826.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:27.290Z,1628950827.290 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T14:20:27.290Z,1628950827.290 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T14:20:28.541Z,1628950828.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:29.793Z,1628950829.793 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:20:30.942Z,1628950830.942 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T14:20:30.942Z,1628950830.942 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T14:20:31.044Z,1628950831.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:31.356Z,1628950831.356 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,142028.238019,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*64

2021-08-14T14:20:31.356Z,1628950831.356 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,142028.238019,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*64

2021-08-14T14:20:32.164Z,1628950832.164 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.096345
2021-08-14T14:20:33.814Z,1628950833.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:34.165Z,1628950834.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:34.165Z,1628950834.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:34.165Z,1628950834.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:34.166Z,1628950834.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:34.593Z,1628950834.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,00FB4,189,80,80,A3,FF
2021-08-14T14:20:34.593Z,1628950834.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:34.594Z,1628950834.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:34.605Z,1628950834.605 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T14:20:34.982Z,1628950834.982 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T14:20:35.384Z,1628950835.384 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-14T14:20:35.385Z,1628950835.385 [Micromodem](INFO): Sent 184 bytes from file Logs/20210814T125729/Courier0021.lzma.parts
2021-08-14T14:20:35.385Z,1628950835.385 [Micromodem](INFO): Packets left to send: 1
2021-08-14T14:20:35.814Z,1628950835.814 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814142035.041735,06,32767,45,0150,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,8.7,7.86,19,-4.86,-01,0.15,52,14500,4000*5F

2021-08-14T14:20:35.814Z,1628950835.814 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814142035.041735,06,32767,45,0150,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,8.7,7.86,19,-4.86,-01,0.15,52,14500,4000*5F

2021-08-14T14:20:36.004Z,1628950836.004 [Micromodem](INFO): Using rate 1 for 16 bytes.
2021-08-14T14:20:36.005Z,1628950836.005 [Micromodem](INFO): Outgoing frame #1, 16 bytes: B9BD17611500000004196328D085F600
2021-08-14T14:20:36.448Z,1628950836.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:38.038Z,1628950838.038 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:38.633Z,1628950838.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:38.644Z,1628950838.644 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T14:20:39.077Z,1628950839.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,00FC6,185,80,80,AF,FF
2021-08-14T14:20:39.078Z,1628950839.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:20:39.080Z,1628950839.080 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T14:20:39.501Z,1628950839.501 [Micromodem](INFO): Nmea in: $CADRQ,142040,1,10,0,64,1*75

2021-08-14T14:20:39.502Z,1628950839.502 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-14T14:20:39.502Z,1628950839.502 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17611500000004196328D085F600*3B

2021-08-14T14:20:39.791Z,1628950839.791 [Micromodem](INFO): Using rate 0 for 16 bytes.
2021-08-14T14:20:39.792Z,1628950839.792 [Micromodem](INFO): Outgoing frame #1, 16 bytes: B9BD17611500000004196328D085F600
2021-08-14T14:20:39.843Z,1628950839.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.779999 m, bearing: 1.673246 deg, deltaT: 15.798393 s, approachRate: 0.068362 m/s, LOS rate: -0.405454 deg/s, posRepo size: 4
2021-08-14T14:20:39.845Z,1628950839.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.779999 m,
      bearing: 1.673246 deg,
      approachRate: 0.068362 m/s,
      LOS rate: -0.405454 deg/s,
      cmd update: -1.216362 deg/s,
      cmd heading: 8.078767 deg,
      new cmd heading: 8.078767 deg.

2021-08-14T14:20:40.049Z,1628950840.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142039.74*50

2021-08-14T14:20:40.049Z,1628950840.049 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,142039.74*50

2021-08-14T14:20:41.253Z,1628950841.253 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,16*4C

2021-08-14T14:20:41.253Z,1628950841.253 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T14:20:41.651Z,1628950841.651 [Micromodem](INFO): Nmea in: $CATXP,16*75

2021-08-14T14:20:41.651Z,1628950841.651 [Micromodem](ERROR): Response from modem unexpected: $CATXP,16*75

2021-08-14T14:20:41.670Z,1628950841.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:42.049Z,1628950842.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:42.050Z,1628950842.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:42.050Z,1628950842.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:42.051Z,1628950842.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:42.065Z,1628950842.065 [Micromodem](INFO): Nmea in: $CATXF,16*63

2021-08-14T14:20:42.065Z,1628950842.065 [Micromodem](ERROR): Response from modem unexpected: $CATXF,16*63

2021-08-14T14:20:42.454Z,1628950842.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,00FC6,185,80,80,AF,FF
2021-08-14T14:20:42.454Z,1628950842.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:42.454Z,1628950842.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:42.457Z,1628950842.457 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,142041.180658,3,0,200,4000,14500,1,1,10,1,1,1,3,16,14500*55

2021-08-14T14:20:42.457Z,1628950842.457 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,142041.180658,3,0,200,4000,14500,1,1,10,1,1,1,3,16,14500*55

2021-08-14T14:20:43.822Z,1628950843.822 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T14:20:43.823Z,1628950843.823 [Micromodem](INFO): Sent 8 bytes from file Logs/20210814T125729/Courier0021.lzma.parts
2021-08-14T14:20:43.823Z,1628950843.823 [Micromodem](INFO): Packets left to send: 0
2021-08-14T14:20:44.206Z,1628950844.206 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814142044.224608,06,26135,44,0109,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,5.2,5.73,15,-2.73,-01,-0.08,49,14500,4000*79

2021-08-14T14:20:44.206Z,1628950844.206 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814142044.224608,06,26135,44,0109,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,5.2,5.73,15,-2.73,-01,-0.08,49,14500,4000*79

2021-08-14T14:20:44.450Z,1628950844.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:44.450Z,1628950844.450 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T14:20:44.450Z,1628950844.450 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T14:20:44.451Z,1628950844.451 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T14:20:44.451Z,1628950844.451 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T14:20:44.451Z,1628950844.451 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T14:20:46.922Z,1628950846.922 [CTD_Seabird](ERROR): Failed to parse device response: 83,4791.49
2021-08-14T14:20:47.142Z,1628950847.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:48.331Z,1628950848.331 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.279753
2021-08-14T14:20:49.938Z,1628950849.938 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:20:50.012Z,1628950850.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:50.331Z,1628950850.331 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:50.331Z,1628950850.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:50.331Z,1628950850.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:50.332Z,1628950850.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:50.749Z,1628950850.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,00FC6,185,80,80,AF,FF
2021-08-14T14:20:50.750Z,1628950850.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:50.750Z,1628950850.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:52.558Z,1628950852.558 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-14T14:20:52.634Z,1628950852.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:52.950Z,1628950852.950 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T14:20:52.950Z,1628950852.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:52.959Z,1628950852.959 [Micromodem](INFO): Nmea in: $CADRQ,142054,1,10,0,64,1*70

2021-08-14T14:20:52.960Z,1628950852.960 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,142054,1,10,0,64,1*70

2021-08-14T14:20:53.357Z,1628950853.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:54.189Z,1628950854.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,476,000,00FED,18A,80,80,9E,FF
2021-08-14T14:20:54.190Z,1628950854.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:20:54.193Z,1628950854.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142054.66*58

2021-08-14T14:20:54.639Z,1628950854.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.119995 m, bearing: 299.171766 deg, deltaT: 15.133748 s, approachRate: 0.154621 m/s, LOS rate: -4.129941 deg/s, posRepo size: 4
2021-08-14T14:20:54.645Z,1628950854.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.119995 m,
      bearing: 299.171766 deg,
      approachRate: 0.154621 m/s,
      LOS rate: -4.129941 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 349.709108 deg,
      new cmd heading: 349.185086 deg.

2021-08-14T14:20:55.029Z,1628950855.029 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:20:57.023Z,1628950857.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:20:57.397Z,1628950857.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:20:57.397Z,1628950857.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:20:57.397Z,1628950857.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:20:57.398Z,1628950857.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:20:57.818Z,1628950857.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
476,000,00FED,18A,80,80,9E,FF
2021-08-14T14:20:57.818Z,1628950857.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:20:57.818Z,1628950857.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:20:57.820Z,1628950857.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:20:58.205Z,1628950858.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:20:59.045Z,1628950859.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40D,000,00FF0,189,80,80,A3,FF
2021-08-14T14:20:59.045Z,1628950859.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:20:59.049Z,1628950859.049 [Micromodem](INFO): Nmea in: $SNTTA,0.137786,,,,142059.52*40

2021-08-14T14:20:59.441Z,1628950859.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.300003 m, bearing: 297.144101 deg, deltaT: 4.834121 s, approachRate: 0.037237 m/s, LOS rate: -0.419448 deg/s, posRepo size: 4
2021-08-14T14:20:59.443Z,1628950859.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.300003 m,
      bearing: 297.144101 deg,
      approachRate: 0.037237 m/s,
      LOS rate: -0.419448 deg/s,
      cmd update: -1.258345 deg/s,
      cmd heading: 291.312967 deg,
      new cmd heading: 286.915494 deg.

2021-08-14T14:20:59.853Z,1628950859.853 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:21:01.882Z,1628950861.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:02.243Z,1628950862.243 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:02.243Z,1628950862.243 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:02.243Z,1628950862.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:02.244Z,1628950862.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:02.657Z,1628950862.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40D,000,00FF0,189,80,80,A3,FF
2021-08-14T14:21:02.657Z,1628950862.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:02.657Z,1628950862.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:02.659Z,1628950862.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:03.073Z,1628950863.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:03.881Z,1628950863.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00FE5,189,80,80,B9,FF
2021-08-14T14:21:03.881Z,1628950863.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:03.884Z,1628950863.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142104.36*59

2021-08-14T14:21:04.299Z,1628950864.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.639999 m, bearing: 262.911084 deg, deltaT: 4.856524 s, approachRate: -0.135900 m/s, LOS rate: -7.048872 deg/s, posRepo size: 4
2021-08-14T14:21:04.302Z,1628950864.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.639999 m,
      bearing: 262.911084 deg,
      approachRate: -0.135900 m/s,
      LOS rate: -7.048872 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.227042 deg,
      new cmd heading: 284.737855 deg.

2021-08-14T14:21:05.103Z,1628950865.103 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:21:06.778Z,1628950866.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:07.113Z,1628950867.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:07.113Z,1628950867.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:07.113Z,1628950867.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:07.114Z,1628950867.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:07.493Z,1628950867.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00FE5,189,80,80,B9,FF
2021-08-14T14:21:07.493Z,1628950867.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:07.493Z,1628950867.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:07.495Z,1628950867.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:07.904Z,1628950867.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:08.754Z,1628950868.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BD,000,00FCE,189,80,80,AE,FF
2021-08-14T14:21:08.755Z,1628950868.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:08.767Z,1628950868.767 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142109.20*53

2021-08-14T14:21:09.166Z,1628950869.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.259995 m, bearing: 246.893034 deg, deltaT: 4.925476 s, approachRate: -0.280177 m/s, LOS rate: -3.252082 deg/s, posRepo size: 4
2021-08-14T14:21:09.168Z,1628950869.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.259995 m,
      bearing: 246.893034 deg,
      approachRate: -0.280177 m/s,
      LOS rate: -3.252082 deg/s,
      cmd update: -9.756245 deg/s,
      cmd heading: 225.880368 deg,
      new cmd heading: 222.183540 deg.

2021-08-14T14:21:09.948Z,1628950869.948 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 53
2021-08-14T14:21:11.564Z,1628950871.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:11.949Z,1628950871.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:11.949Z,1628950871.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:11.949Z,1628950871.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:11.950Z,1628950871.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:12.345Z,1628950872.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BD,000,00FCE,189,80,80,AE,FF
2021-08-14T14:21:12.345Z,1628950872.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:12.345Z,1628950872.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:12.347Z,1628950872.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:12.786Z,1628950872.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:13.585Z,1628950873.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32B,000,00FAC,189,80,80,B2,FF
2021-08-14T14:21:13.585Z,1628950873.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:13.588Z,1628950873.588 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142114.05*58

2021-08-14T14:21:14.010Z,1628950874.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.219986 m, bearing: 246.273044 deg, deltaT: 4.775630 s, approachRate: -0.427171 m/s, LOS rate: -0.129824 deg/s, posRepo size: 4
2021-08-14T14:21:14.045Z,1628950874.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.219986 m,
      bearing: 246.273044 deg,
      approachRate: -0.427171 m/s,
      LOS rate: -0.129824 deg/s,
      cmd update: -0.389471 deg/s,
      cmd heading: 179.328388 deg,
      new cmd heading: 175.595239 deg.

2021-08-14T14:21:14.862Z,1628950874.862 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:21:15.589Z,1628950875.589 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T14:21:16.406Z,1628950876.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:16.817Z,1628950876.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:16.817Z,1628950876.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:16.817Z,1628950876.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:16.818Z,1628950876.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:17.189Z,1628950877.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32B,000,00FAC,189,80,80,B2,FF
2021-08-14T14:21:17.189Z,1628950877.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:17.190Z,1628950877.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:17.191Z,1628950877.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:17.617Z,1628950877.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:18.422Z,1628950878.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,00F77,186,80,80,A6,FF
2021-08-14T14:21:18.423Z,1628950878.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:18.427Z,1628950878.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142118.90*58

2021-08-14T14:21:18.885Z,1628950878.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.039993 m, bearing: 245.951834 deg, deltaT: 4.868287 s, approachRate: -0.653206 m/s, LOS rate: -0.065980 deg/s, posRepo size: 4
2021-08-14T14:21:18.887Z,1628950878.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.039993 m,
      bearing: 245.951834 deg,
      approachRate: -0.653206 m/s,
      LOS rate: -0.065980 deg/s,
      cmd update: -0.197940 deg/s,
      cmd heading: 177.430719 deg,
      new cmd heading: 177.281038 deg.

2021-08-14T14:21:20.044Z,1628950880.044 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:21:21.291Z,1628950881.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:21.646Z,1628950881.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:21.646Z,1628950881.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:21.646Z,1628950881.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:21.647Z,1628950881.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:22.037Z,1628950882.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,00F77,186,80,80,A6,FF
2021-08-14T14:21:22.037Z,1628950882.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:22.037Z,1628950882.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:22.039Z,1628950882.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:22.447Z,1628950882.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:22.851Z,1628950882.851 [Micromodem](INFO): Nmea in: $CAERR,142124,DATA_TIMEOUT,1*4E

2021-08-14T14:21:23.278Z,1628950883.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00F41,185,80,80,AE,FF
2021-08-14T14:21:23.279Z,1628950883.279 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:23.283Z,1628950883.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142123.74*5A

2021-08-14T14:21:23.695Z,1628950883.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.800003 m, bearing: 248.014878 deg, deltaT: 4.806663 s, approachRate: -0.674062 m/s, LOS rate: 0.429205 deg/s, posRepo size: 4
2021-08-14T14:21:23.697Z,1628950883.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.800003 m,
      bearing: 248.014878 deg,
      approachRate: -0.674062 m/s,
      LOS rate: 0.429205 deg/s,
      cmd update: 1.287616 deg/s,
      cmd heading: 176.479292 deg,
      new cmd heading: 176.402482 deg.

2021-08-14T14:21:24.929Z,1628950884.929 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:21:26.134Z,1628950886.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:26.485Z,1628950886.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:26.485Z,1628950886.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:26.485Z,1628950886.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:26.486Z,1628950886.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:26.885Z,1628950886.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00F41,185,80,80,AE,FF
2021-08-14T14:21:26.885Z,1628950886.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:26.885Z,1628950886.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:26.887Z,1628950886.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:27.302Z,1628950887.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:28.119Z,1628950888.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00F0B,186,80,80,A3,FF
2021-08-14T14:21:28.119Z,1628950888.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:28.139Z,1628950888.139 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142128.59*5E

2021-08-14T14:21:28.535Z,1628950888.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.559982 m, bearing: 248.215413 deg, deltaT: 4.912227 s, approachRate: -0.659583 m/s, LOS rate: 0.040824 deg/s, posRepo size: 4
2021-08-14T14:21:28.567Z,1628950888.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 248.215413 deg,
      approachRate: -0.659583 m/s,
      LOS rate: 0.040824 deg/s,
      cmd update: 0.122471 deg/s,
      cmd heading: 182.798684 deg,
      new cmd heading: 183.206641 deg.

2021-08-14T14:21:30.965Z,1628950890.965 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:21:30.981Z,1628950890.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:31.333Z,1628950891.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:31.333Z,1628950891.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:31.333Z,1628950891.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:31.334Z,1628950891.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:31.734Z,1628950891.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00F0B,186,80,80,A3,FF
2021-08-14T14:21:31.734Z,1628950891.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:31.734Z,1628950891.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:31.737Z,1628950891.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:32.157Z,1628950892.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:32.969Z,1628950892.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C65,000,00EDD,189,80,80,B5,FF
2021-08-14T14:21:32.969Z,1628950892.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:32.990Z,1628950892.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142133.44*58

2021-08-14T14:21:33.392Z,1628950893.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.799988 m, bearing: 251.321291 deg, deltaT: 4.854855 s, approachRate: -0.568502 m/s, LOS rate: 0.639747 deg/s, posRepo size: 4
2021-08-14T14:21:33.394Z,1628950893.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 251.321291 deg,
      approachRate: -0.568502 m/s,
      LOS rate: 0.639747 deg/s,
      cmd update: 1.919240 deg/s,
      cmd heading: 183.393798 deg,
      new cmd heading: 183.432717 deg.

2021-08-14T14:21:35.845Z,1628950895.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:36.181Z,1628950896.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:36.181Z,1628950896.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:36.181Z,1628950896.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:36.182Z,1628950896.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:36.606Z,1628950896.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C65,000,00EDD,189,80,80,B5,FF
2021-08-14T14:21:36.607Z,1628950896.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:36.607Z,1628950896.607 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:36.624Z,1628950896.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:36.997Z,1628950896.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:37.837Z,1628950897.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B0C,000,00EB9,189,80,80,9E,FF
2021-08-14T14:21:37.837Z,1628950897.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:37.840Z,1628950897.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142138.33*53

2021-08-14T14:21:38.220Z,1628950898.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.639984 m, bearing: 251.505351 deg, deltaT: 4.852195 s, approachRate: -0.445160 m/s, LOS rate: 0.037933 deg/s, posRepo size: 4
2021-08-14T14:21:38.222Z,1628950898.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 251.505351 deg,
      approachRate: -0.445160 m/s,
      LOS rate: 0.037933 deg/s,
      cmd update: 0.113800 deg/s,
      cmd heading: 192.670063 deg,
      new cmd heading: 193.269985 deg.

2021-08-14T14:21:39.881Z,1628950899.881 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:21:40.728Z,1628950900.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:41.021Z,1628950901.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:41.021Z,1628950901.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:41.021Z,1628950901.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:41.022Z,1628950901.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:41.433Z,1628950901.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B0C,000,00EB9,189,80,80,9E,FF
2021-08-14T14:21:41.433Z,1628950901.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:41.433Z,1628950901.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:41.435Z,1628950901.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:41.832Z,1628950901.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:42.669Z,1628950902.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B40,000,00E9A,189,80,80,C3,FF
2021-08-14T14:21:42.669Z,1628950902.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:42.672Z,1628950902.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142143.14*5A

2021-08-14T14:21:43.087Z,1628950903.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.779999 m, bearing: 253.446436 deg, deltaT: 4.883135 s, approachRate: -0.380900 m/s, LOS rate: 0.397508 deg/s, posRepo size: 4
2021-08-14T14:21:43.089Z,1628950903.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.779999 m,
      bearing: 253.446436 deg,
      approachRate: -0.380900 m/s,
      LOS rate: 0.397508 deg/s,
      cmd update: 1.192524 deg/s,
      cmd heading: 193.226986 deg,
      new cmd heading: 193.259479 deg.

2021-08-14T14:21:45.499Z,1628950905.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:45.877Z,1628950905.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:45.877Z,1628950905.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:45.877Z,1628950905.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:45.878Z,1628950905.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:46.285Z,1628950906.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B40,000,00E9A,189,80,80,C3,FF
2021-08-14T14:21:46.285Z,1628950906.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:46.285Z,1628950906.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:46.287Z,1628950906.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:46.699Z,1628950906.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:47.106Z,1628950907.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C40,000,00E9A,189,80,80,C3,FF
2021-08-14T14:21:47.106Z,1628950907.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:47.533Z,1628950907.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142148.00*54

2021-08-14T14:21:47.556Z,1628950907.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.779999 m, bearing: 248.074793 deg, deltaT: 4.319569 s, approachRate: 0.000000 m/s, LOS rate: -1.243560 deg/s, posRepo size: 4
2021-08-14T14:21:47.558Z,1628950907.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.779999 m,
      bearing: 248.074793 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.243560 deg/s,
      cmd update: -3.730680 deg/s,
      cmd heading: 198.386037 deg,
      new cmd heading: 198.896891 deg.

2021-08-14T14:21:49.932Z,1628950909.932 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:21:49.967Z,1628950909.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:50.337Z,1628950910.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:50.337Z,1628950910.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:50.337Z,1628950910.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:50.338Z,1628950910.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:50.749Z,1628950910.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C40,000,00E9A,189,80,80,C3,FF
2021-08-14T14:21:50.749Z,1628950910.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:50.750Z,1628950910.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:50.757Z,1628950910.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:51.140Z,1628950911.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:51.947Z,1628950911.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEA,000,00E52,189,80,80,B5,FF
2021-08-14T14:21:51.948Z,1628950911.948 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:51.961Z,1628950911.961 [Micromodem](INFO): Nmea in: $SNTTA,0.124111,,,,142152.46*45

2021-08-14T14:21:52.380Z,1628950912.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 251.427569 deg, deltaT: 4.899018 s, approachRate: -0.881808 m/s, LOS rate: 0.684377 deg/s, posRepo size: 4
2021-08-14T14:21:52.382Z,1628950912.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 251.427569 deg,
      approachRate: -0.881808 m/s,
      LOS rate: 0.684377 deg/s,
      cmd update: 2.053131 deg/s,
      cmd heading: 180.118292 deg,
      new cmd heading: 178.790976 deg.

2021-08-14T14:21:54.841Z,1628950914.841 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:21:54.872Z,1628950914.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:55.177Z,1628950915.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:55.177Z,1628950915.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:55.177Z,1628950915.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:55.178Z,1628950915.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:21:55.573Z,1628950915.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEA,000,00E52,189,80,80,B5,FF
2021-08-14T14:21:55.573Z,1628950915.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:21:55.573Z,1628950915.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:21:55.575Z,1628950915.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:21:55.980Z,1628950915.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:21:56.386Z,1628950916.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEA,000,00E52,189,80,80,B5,FF
2021-08-14T14:21:56.386Z,1628950916.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:21:56.838Z,1628950916.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142157.28*50

2021-08-14T14:21:56.903Z,1628950916.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 240.403206 deg, deltaT: 4.409824 s, approachRate: 0.000000 m/s, LOS rate: -2.499955 deg/s, posRepo size: 4
2021-08-14T14:21:56.910Z,1628950916.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 240.403206 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.499955 deg/s,
      cmd update: -7.499865 deg/s,
      cmd heading: 189.119729 deg,
      new cmd heading: 190.136947 deg.

2021-08-14T14:21:59.243Z,1628950919.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:21:59.617Z,1628950919.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:21:59.617Z,1628950919.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:21:59.617Z,1628950919.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:21:59.618Z,1628950919.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:00.017Z,1628950920.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEA,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:00.017Z,1628950920.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:00.017Z,1628950920.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:00.019Z,1628950920.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:00.261Z,1628950920.261 [CTD_Seabird](ERROR): Failed to parse device response: 5.84,2
2021-08-14T14:22:00.434Z,1628950920.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:00.829Z,1628950920.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:00.830Z,1628950920.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:01.273Z,1628950921.273 [Micromodem](INFO): Nmea in: $SNTTA,,0.182075,,,142201.72*48

2021-08-14T14:22:01.295Z,1628950921.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 254.202101 deg, deltaT: 4.491336 s, approachRate: 0.000000 m/s, LOS rate: 3.072336 deg/s, posRepo size: 4
2021-08-14T14:22:01.298Z,1628950921.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 254.202101 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.072336 deg/s,
      cmd update: 9.217009 deg/s,
      cmd heading: 155.280869 deg,
      new cmd heading: 152.465690 deg.

2021-08-14T14:22:03.671Z,1628950923.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:04.061Z,1628950924.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:04.061Z,1628950924.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:04.061Z,1628950924.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:04.062Z,1628950924.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:04.461Z,1628950924.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:04.461Z,1628950924.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:04.461Z,1628950924.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:04.463Z,1628950924.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:04.875Z,1628950924.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:05.270Z,1628950925.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:05.270Z,1628950925.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:05.716Z,1628950925.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142206.17*5B

2021-08-14T14:22:05.793Z,1628950925.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 239.822504 deg, deltaT: 4.416385 s, approachRate: 0.000000 m/s, LOS rate: -3.255965 deg/s, posRepo size: 4
2021-08-14T14:22:05.795Z,1628950925.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 239.822504 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.255965 deg/s,
      cmd update: -9.767896 deg/s,
      cmd heading: 196.032990 deg,
      new cmd heading: 200.156560 deg.

2021-08-14T14:22:08.130Z,1628950928.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:08.501Z,1628950928.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:08.501Z,1628950928.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:08.501Z,1628950928.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:08.502Z,1628950928.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:08.901Z,1628950928.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:08.901Z,1628950928.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:08.901Z,1628950928.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:08.903Z,1628950928.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:09.309Z,1628950929.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:09.715Z,1628950929.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:09.717Z,1628950929.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:10.149Z,1628950930.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142210.61*5D

2021-08-14T14:22:10.189Z,1628950930.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 238.241178 deg, deltaT: 4.465558 s, approachRate: 0.000000 m/s, LOS rate: -0.354116 deg/s, posRepo size: 4
2021-08-14T14:22:10.191Z,1628950930.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 238.241178 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.354116 deg/s,
      cmd update: -1.062348 deg/s,
      cmd heading: 152.707799 deg,
      new cmd heading: 148.676911 deg.

2021-08-14T14:22:12.624Z,1628950932.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:12.945Z,1628950932.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:12.945Z,1628950932.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:12.945Z,1628950932.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:12.946Z,1628950932.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:13.361Z,1628950933.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:13.361Z,1628950933.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:13.361Z,1628950933.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:13.363Z,1628950933.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:13.782Z,1628950933.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:14.169Z,1628950934.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:14.169Z,1628950934.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:14.625Z,1628950934.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142215.07*58

2021-08-14T14:22:14.674Z,1628950934.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 249.073039 deg, deltaT: 4.381100 s, approachRate: 0.000000 m/s, LOS rate: 2.472407 deg/s, posRepo size: 4
2021-08-14T14:22:14.676Z,1628950934.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 249.073039 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.472407 deg/s,
      cmd update: 7.417220 deg/s,
      cmd heading: 148.018869 deg,
      new cmd heading: 147.505130 deg.

2021-08-14T14:22:17.033Z,1628950937.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:17.401Z,1628950937.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:17.401Z,1628950937.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:17.401Z,1628950937.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:17.402Z,1628950937.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:17.821Z,1628950937.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00E52,189,80,80,B5,FF
2021-08-14T14:22:17.821Z,1628950937.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:17.821Z,1628950937.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:17.823Z,1628950937.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:18.201Z,1628950938.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:18.666Z,1628950938.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:18.667Z,1628950938.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:19.033Z,1628950939.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142219.53*55

2021-08-14T14:22:19.065Z,1628950939.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 141.771177 deg, deltaT: 4.566929 s, approachRate: -1.510864 m/s, LOS rate: -23.495408 deg/s, posRepo size: 4
2021-08-14T14:22:19.065Z,1628950939.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.495408 deg/s. Setting heading cmd to target bearing of 141.771177deg and heading rate command to 0 deg/s.
2021-08-14T14:22:21.459Z,1628950941.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:21.841Z,1628950941.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:21.841Z,1628950941.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:21.841Z,1628950941.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:21.842Z,1628950941.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:22.241Z,1628950942.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:22.241Z,1628950942.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:22.241Z,1628950942.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:22.243Z,1628950942.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:22.669Z,1628950942.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:23.063Z,1628950943.063 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:23.063Z,1628950943.063 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:23.501Z,1628950943.501 [Micromodem](INFO): Nmea in: $SNTTA,0.119356,,,,142223.95*41

2021-08-14T14:22:23.541Z,1628950943.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 197.955370 deg, deltaT: 4.359468 s, approachRate: 0.000000 m/s, LOS rate: 12.887856 deg/s, posRepo size: 4
2021-08-14T14:22:23.542Z,1628950943.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.887856 deg/s. Setting heading cmd to target bearing of 197.955370deg and heading rate command to 0 deg/s.
2021-08-14T14:22:25.938Z,1628950945.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:26.289Z,1628950946.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:26.289Z,1628950946.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:26.290Z,1628950946.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:26.291Z,1628950946.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:26.693Z,1628950946.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:26.693Z,1628950946.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:26.693Z,1628950946.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:26.695Z,1628950946.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:27.096Z,1628950947.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:27.494Z,1628950947.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:27.494Z,1628950947.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:27.925Z,1628950947.925 [Micromodem](INFO): Nmea in: $SNTTA,0.118546,,,,142228.40*44

2021-08-14T14:22:27.971Z,1628950947.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 207.337591 deg, deltaT: 4.399303 s, approachRate: 0.000000 m/s, LOS rate: 2.132661 deg/s, posRepo size: 4
2021-08-14T14:22:27.977Z,1628950947.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 207.337591 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.132661 deg/s,
      cmd update: 6.397982 deg/s,
      cmd heading: 197.955370 deg,
      new cmd heading: 197.955370 deg.

2021-08-14T14:22:30.350Z,1628950950.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:30.730Z,1628950950.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:30.730Z,1628950950.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:30.730Z,1628950950.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:30.731Z,1628950950.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:31.125Z,1628950951.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:31.125Z,1628950951.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:31.125Z,1628950951.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:31.127Z,1628950951.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:31.551Z,1628950951.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:31.934Z,1628950951.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:31.934Z,1628950951.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:32.382Z,1628950952.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142232.83*51

2021-08-14T14:22:32.404Z,1628950952.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 202.088400 deg, deltaT: 4.477508 s, approachRate: 0.000000 m/s, LOS rate: -1.172347 deg/s, posRepo size: 4
2021-08-14T14:22:32.406Z,1628950952.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 202.088400 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.172347 deg/s,
      cmd update: -3.517040 deg/s,
      cmd heading: 226.590078 deg,
      new cmd heading: 229.230404 deg.

2021-08-14T14:22:34.875Z,1628950954.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:35.165Z,1628950955.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:35.165Z,1628950955.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:35.165Z,1628950955.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:35.166Z,1628950955.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:35.582Z,1628950955.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00DDF,188,80,80,B5,FF
2021-08-14T14:22:35.582Z,1628950955.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:35.582Z,1628950955.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:35.584Z,1628950955.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:35.981Z,1628950955.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:36.819Z,1628950956.819 [Micromodem](INFO): Nmea in: $SNTTA,0.438421,0.438421,,,142237.29*54

2021-08-14T14:22:37.607Z,1628950957.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:39.209Z,1628950959.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,188,80,80,B5,FF
2021-08-14T14:22:39.209Z,1628950959.209 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,188,80,80,B5,FF
2021-08-14T14:22:39.209Z,1628950959.209 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:22:40.469Z,1628950960.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:40.821Z,1628950960.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:40.821Z,1628950960.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:40.821Z,1628950960.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:40.822Z,1628950960.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:41.239Z,1628950961.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,188,80,80,B5,FF
2021-08-14T14:22:41.239Z,1628950961.239 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:41.239Z,1628950961.239 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:41.242Z,1628950961.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:41.632Z,1628950961.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:42.457Z,1628950962.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C97,000,00D96,189,80,80,CA,FF
2021-08-14T14:22:42.458Z,1628950962.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:42.460Z,1628950962.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142242.95*51

2021-08-14T14:22:42.930Z,1628950962.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.179993 m, bearing: 256.047809 deg, deltaT: 10.504563 s, approachRate: -0.416962 m/s, LOS rate: 5.136759 deg/s, posRepo size: 4
2021-08-14T14:22:42.936Z,1628950962.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 256.047809 deg,
      approachRate: -0.416962 m/s,
      LOS rate: 5.136759 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 189.645169 deg,
      new cmd heading: 188.117469 deg.

2021-08-14T14:22:45.321Z,1628950965.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:45.722Z,1628950965.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:45.722Z,1628950965.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:45.722Z,1628950965.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:45.723Z,1628950965.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:46.087Z,1628950966.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C97,000,00D96,189,80,80,CA,FF
2021-08-14T14:22:46.087Z,1628950966.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:46.088Z,1628950966.088 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:46.090Z,1628950966.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:46.485Z,1628950966.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:46.890Z,1628950966.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1B,000,00D96,189,80,80,CA,FF
2021-08-14T14:22:46.891Z,1628950966.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:47.317Z,1628950967.317 [Micromodem](INFO): Nmea in: $SNTTA,,0.184461,,,142247.80*40

2021-08-14T14:22:47.340Z,1628950967.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.179993 m, bearing: 263.627489 deg, deltaT: 4.508543 s, approachRate: 0.000000 m/s, LOS rate: 1.681182 deg/s, posRepo size: 4
2021-08-14T14:22:47.342Z,1628950967.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 263.627489 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.681182 deg/s,
      cmd update: 5.043545 deg/s,
      cmd heading: 243.746967 deg,
      new cmd heading: 247.772043 deg.

2021-08-14T14:22:49.789Z,1628950969.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:50.121Z,1628950970.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:50.121Z,1628950970.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:50.121Z,1628950970.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:50.122Z,1628950970.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:50.525Z,1628950970.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1B,000,00D96,189,80,80,CA,FF
2021-08-14T14:22:50.525Z,1628950970.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:50.525Z,1628950970.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:50.527Z,1628950970.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:50.932Z,1628950970.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:51.330Z,1628950971.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE5,000,00D96,189,80,80,CA,FF
2021-08-14T14:22:51.330Z,1628950971.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:51.794Z,1628950971.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142252.23*5D

2021-08-14T14:22:51.846Z,1628950971.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.179993 m, bearing: 262.338086 deg, deltaT: 4.363859 s, approachRate: 0.000000 m/s, LOS rate: -0.295473 deg/s, posRepo size: 4
2021-08-14T14:22:51.848Z,1628950971.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 262.338086 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.295473 deg/s,
      cmd update: -0.886419 deg/s,
      cmd heading: 265.673798 deg,
      new cmd heading: 268.160967 deg.

2021-08-14T14:22:54.202Z,1628950974.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:54.564Z,1628950974.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:54.564Z,1628950974.564 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:54.565Z,1628950974.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:54.566Z,1628950974.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:54.969Z,1628950974.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE5,000,00D96,189,80,80,CA,FF
2021-08-14T14:22:54.969Z,1628950974.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:54.969Z,1628950974.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:54.971Z,1628950974.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:55.379Z,1628950975.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:22:55.798Z,1628950975.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,00D39,188,80,80,CA,FF
2021-08-14T14:22:55.798Z,1628950975.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:22:56.215Z,1628950976.215 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142256.68*56

2021-08-14T14:22:56.230Z,1628950976.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.599991 m, bearing: 260.477788 deg, deltaT: 4.510293 s, approachRate: -1.237171 m/s, LOS rate: -0.412456 deg/s, posRepo size: 4
2021-08-14T14:22:56.232Z,1628950976.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.599991 m,
      bearing: 260.477788 deg,
      approachRate: -1.237171 m/s,
      LOS rate: -0.412456 deg/s,
      cmd update: -1.237368 deg/s,
      cmd heading: 261.661682 deg,
      new cmd heading: 261.349298 deg.

2021-08-14T14:22:58.694Z,1628950978.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:22:59.009Z,1628950979.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:22:59.009Z,1628950979.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:22:59.009Z,1628950979.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:22:59.010Z,1628950979.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:22:59.413Z,1628950979.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,00D39,188,80,80,CA,FF
2021-08-14T14:22:59.413Z,1628950979.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:22:59.413Z,1628950979.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:22:59.415Z,1628950979.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:22:59.848Z,1628950979.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:00.214Z,1628950980.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,00D39,188,80,80,CA,FF
2021-08-14T14:23:00.214Z,1628950980.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:00.681Z,1628950980.681 [Micromodem](INFO): Nmea in: $SNTTA,,0.481486,,,142301.12*41

2021-08-14T14:23:00.807Z,1628950980.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.599991 m, bearing: 266.875326 deg, deltaT: 4.381210 s, approachRate: 0.000000 m/s, LOS rate: 1.460222 deg/s, posRepo size: 4
2021-08-14T14:23:00.813Z,1628950980.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.599991 m,
      bearing: 266.875326 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.460222 deg/s,
      cmd update: 4.380665 deg/s,
      cmd heading: 256.235848 deg,
      new cmd heading: 255.562870 deg.

2021-08-14T14:23:03.078Z,1628950983.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:03.449Z,1628950983.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:03.449Z,1628950983.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:03.449Z,1628950983.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:03.450Z,1628950983.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:03.849Z,1628950983.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,00D39,188,80,80,CA,FF
2021-08-14T14:23:03.849Z,1628950983.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:03.849Z,1628950983.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:03.851Z,1628950983.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:04.257Z,1628950984.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:04.674Z,1628950984.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00CDC,184,80,80,9C,FF
2021-08-14T14:23:04.674Z,1628950984.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:04.678Z,1628950984.678 [Micromodem](INFO): Nmea in: $SNTTA,0.108721,0.264890,,,142305.56*50

2021-08-14T14:23:05.102Z,1628950985.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.020004 m, bearing: 265.406398 deg, deltaT: 4.546656 s, approachRate: -1.227273 m/s, LOS rate: -0.323079 deg/s, posRepo size: 4
2021-08-14T14:23:05.120Z,1628950985.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.020004 m,
      bearing: 265.406398 deg,
      approachRate: -1.227273 m/s,
      LOS rate: -0.323079 deg/s,
      cmd update: -0.969236 deg/s,
      cmd heading: 276.059166 deg,
      new cmd heading: 277.434555 deg.

2021-08-14T14:23:07.515Z,1628950987.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:07.897Z,1628950987.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:07.897Z,1628950987.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:07.898Z,1628950987.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:07.898Z,1628950987.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:08.293Z,1628950988.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00CDC,184,80,80,9C,FF
2021-08-14T14:23:08.293Z,1628950988.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:08.293Z,1628950988.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:08.295Z,1628950988.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:08.715Z,1628950988.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:09.110Z,1628950989.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,00CAD,186,80,80,9C,FF
2021-08-14T14:23:09.110Z,1628950989.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:09.553Z,1628950989.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142310.00*5B

2021-08-14T14:23:09.576Z,1628950989.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.200012 m, bearing: 264.835777 deg, deltaT: 4.346787 s, approachRate: -0.648753 m/s, LOS rate: -0.131274 deg/s, posRepo size: 4
2021-08-14T14:23:09.578Z,1628950989.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 264.835777 deg,
      approachRate: -0.648753 m/s,
      LOS rate: -0.131274 deg/s,
      cmd update: -0.393823 deg/s,
      cmd heading: 271.832464 deg,
      new cmd heading: 271.418888 deg.

2021-08-14T14:23:11.981Z,1628950991.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:12.330Z,1628950992.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:12.330Z,1628950992.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:12.330Z,1628950992.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:12.331Z,1628950992.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:12.765Z,1628950992.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,00CAD,186,80,80,9C,FF
2021-08-14T14:23:12.765Z,1628950992.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:12.766Z,1628950992.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:12.777Z,1628950992.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:13.156Z,1628950993.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:13.553Z,1628950993.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,00CAD,186,80,80,9C,FF
2021-08-14T14:23:13.554Z,1628950993.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:13.979Z,1628950993.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142314.49*52

2021-08-14T14:23:14.016Z,1628950994.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.200012 m, bearing: 265.601195 deg, deltaT: 4.451389 s, approachRate: 0.000000 m/s, LOS rate: 0.171950 deg/s, posRepo size: 4
2021-08-14T14:23:14.018Z,1628950994.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 265.601195 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.171950 deg/s,
      cmd update: 0.515851 deg/s,
      cmd heading: 270.079379 deg,
      new cmd heading: 269.915716 deg.

2021-08-14T14:23:16.395Z,1628950996.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:16.820Z,1628950996.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:16.820Z,1628950996.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:16.820Z,1628950996.820 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:16.821Z,1628950996.821 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:17.194Z,1628950997.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,00CAD,186,80,80,9C,FF
2021-08-14T14:23:17.194Z,1628950997.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:17.194Z,1628950997.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:17.196Z,1628950997.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:17.593Z,1628950997.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:17.994Z,1628950997.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,00C47,186,80,80,9C,FF
2021-08-14T14:23:17.994Z,1628950997.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:18.437Z,1628950998.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142318.90*5A

2021-08-14T14:23:18.467Z,1628950998.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.079987 m, bearing: 265.681600 deg, deltaT: 4.440875 s, approachRate: -1.378113 m/s, LOS rate: 0.018106 deg/s, posRepo size: 4
2021-08-14T14:23:18.469Z,1628950998.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.079987 m,
      bearing: 265.681600 deg,
      approachRate: -1.378113 m/s,
      LOS rate: 0.018106 deg/s,
      cmd update: 0.054317 deg/s,
      cmd heading: 272.361894 deg,
      new cmd heading: 272.589897 deg.

2021-08-14T14:23:20.886Z,1628951000.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:21.225Z,1628951001.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:21.225Z,1628951001.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:21.225Z,1628951001.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:21.226Z,1628951001.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:21.643Z,1628951001.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,00C47,186,80,80,9C,FF
2021-08-14T14:23:21.643Z,1628951001.643 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:21.643Z,1628951001.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:21.645Z,1628951001.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:22.044Z,1628951002.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:22.454Z,1628951002.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00C16,186,80,80,AD,FF
2021-08-14T14:23:22.454Z,1628951002.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:22.861Z,1628951002.861 [Micromodem](INFO): Nmea in: $SNTTA,0.366850,0.366913,,,142323.35*5B

2021-08-14T14:23:22.927Z,1628951002.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.139999 m, bearing: 265.069123 deg, deltaT: 4.446033 s, approachRate: -0.661261 m/s, LOS rate: -0.137758 deg/s, posRepo size: 4
2021-08-14T14:23:22.929Z,1628951002.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.139999 m,
      bearing: 265.069123 deg,
      approachRate: -0.661261 m/s,
      LOS rate: -0.137758 deg/s,
      cmd update: -0.413274 deg/s,
      cmd heading: 272.604707 deg,
      new cmd heading: 272.628162 deg.

2021-08-14T14:23:25.286Z,1628951005.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:25.677Z,1628951005.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:25.677Z,1628951005.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:25.677Z,1628951005.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:25.678Z,1628951005.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:26.081Z,1628951006.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00C16,186,80,80,AD,FF
2021-08-14T14:23:26.081Z,1628951006.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:26.081Z,1628951006.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:26.083Z,1628951006.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:26.480Z,1628951006.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:26.893Z,1628951006.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,00BE4,186,80,80,A8,FF
2021-08-14T14:23:26.894Z,1628951006.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:27.321Z,1628951007.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142327.79*51

2021-08-14T14:23:27.343Z,1628951007.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.140015 m, bearing: 264.900363 deg, deltaT: 4.495554 s, approachRate: -0.667323 m/s, LOS rate: -0.037539 deg/s, posRepo size: 4
2021-08-14T14:23:27.346Z,1628951007.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.140015 m,
      bearing: 264.900363 deg,
      approachRate: -0.667323 m/s,
      LOS rate: -0.037539 deg/s,
      cmd update: -0.112618 deg/s,
      cmd heading: 270.748486 deg,
      new cmd heading: 270.601164 deg.

2021-08-14T14:23:29.784Z,1628951009.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:30.125Z,1628951010.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:30.125Z,1628951010.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:30.125Z,1628951010.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:30.126Z,1628951010.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:30.521Z,1628951010.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,00BE4,186,80,80,A8,FF
2021-08-14T14:23:30.521Z,1628951010.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:30.521Z,1628951010.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:30.523Z,1628951010.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:30.932Z,1628951010.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:31.330Z,1628951011.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00BAD,186,80,80,8E,FF
2021-08-14T14:23:31.330Z,1628951011.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:31.789Z,1628951011.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142332.23*5A

2021-08-14T14:23:31.815Z,1628951011.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.840012 m, bearing: 265.046502 deg, deltaT: 4.355873 s, approachRate: -0.757599 m/s, LOS rate: 0.033550 deg/s, posRepo size: 4
2021-08-14T14:23:31.817Z,1628951011.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 265.046502 deg,
      approachRate: -0.757599 m/s,
      LOS rate: 0.033550 deg/s,
      cmd update: 0.100649 deg/s,
      cmd heading: 270.257480 deg,
      new cmd heading: 270.204782 deg.

2021-08-14T14:23:34.182Z,1628951014.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:34.582Z,1628951014.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:34.582Z,1628951014.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:34.583Z,1628951014.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:34.592Z,1628951014.592 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:34.973Z,1628951014.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00BAD,186,80,80,8E,FF
2021-08-14T14:23:34.974Z,1628951014.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:34.974Z,1628951014.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:34.976Z,1628951014.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:35.375Z,1628951015.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:35.829Z,1628951015.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00B7A,185,80,80,A4,FF
2021-08-14T14:23:35.829Z,1628951015.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:36.209Z,1628951016.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142336.69*50

2021-08-14T14:23:36.231Z,1628951016.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.779999 m, bearing: 264.810723 deg, deltaT: 4.509120 s, approachRate: -0.678627 m/s, LOS rate: -0.052289 deg/s, posRepo size: 4
2021-08-14T14:23:36.233Z,1628951016.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.779999 m,
      bearing: 264.810723 deg,
      approachRate: -0.678627 m/s,
      LOS rate: -0.052289 deg/s,
      cmd update: -0.156868 deg/s,
      cmd heading: 270.711307 deg,
      new cmd heading: 270.749095 deg.

2021-08-14T14:23:38.687Z,1628951018.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:39.013Z,1628951019.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:39.013Z,1628951019.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:39.013Z,1628951019.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:39.014Z,1628951019.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:39.405Z,1628951019.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00B7A,185,80,80,A4,FF
2021-08-14T14:23:39.405Z,1628951019.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:39.405Z,1628951019.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:39.407Z,1628951019.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:39.825Z,1628951019.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:40.217Z,1628951020.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00B43,186,80,80,A2,FF
2021-08-14T14:23:40.217Z,1628951020.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:40.665Z,1628951020.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142341.11*5F

2021-08-14T14:23:40.782Z,1628951020.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.479996 m, bearing: 264.763185 deg, deltaT: 4.404915 s, approachRate: -0.749164 m/s, LOS rate: -0.010792 deg/s, posRepo size: 4
2021-08-14T14:23:40.789Z,1628951020.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.479996 m,
      bearing: 264.763185 deg,
      approachRate: -0.749164 m/s,
      LOS rate: -0.010792 deg/s,
      cmd update: -0.032376 deg/s,
      cmd heading: 270.020365 deg,
      new cmd heading: 269.939615 deg.

2021-08-14T14:23:43.081Z,1628951023.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:43.445Z,1628951023.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:43.445Z,1628951023.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:43.445Z,1628951023.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:43.446Z,1628951023.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:43.861Z,1628951023.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00B43,186,80,80,A2,FF
2021-08-14T14:23:43.861Z,1628951023.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:43.861Z,1628951023.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:43.863Z,1628951023.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:44.267Z,1628951024.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:44.681Z,1628951024.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00B0E,186,80,80,A4,FF
2021-08-14T14:23:44.681Z,1628951024.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:45.093Z,1628951025.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142345.57*59

2021-08-14T14:23:45.130Z,1628951025.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.300003 m, bearing: 264.537734 deg, deltaT: 4.525919 s, approachRate: -0.702618 m/s, LOS rate: -0.049813 deg/s, posRepo size: 4
2021-08-14T14:23:45.133Z,1628951025.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.300003 m,
      bearing: 264.537734 deg,
      approachRate: -0.702618 m/s,
      LOS rate: -0.049813 deg/s,
      cmd update: -0.149440 deg/s,
      cmd heading: 269.873950 deg,
      new cmd heading: 269.862696 deg.

2021-08-14T14:23:47.503Z,1628951027.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:47.905Z,1628951027.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:47.905Z,1628951027.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:47.905Z,1628951027.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:47.906Z,1628951027.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:48.293Z,1628951028.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00B0E,186,80,80,A4,FF
2021-08-14T14:23:48.293Z,1628951028.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:48.293Z,1628951028.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:48.295Z,1628951028.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:48.729Z,1628951028.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:49.105Z,1628951029.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00ADC,186,80,80,AB,FF
2021-08-14T14:23:49.106Z,1628951029.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:49.537Z,1628951029.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142350.01*5E

2021-08-14T14:23:49.567Z,1628951029.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.300003 m, bearing: 264.035907 deg, deltaT: 4.335782 s, approachRate: -0.691917 m/s, LOS rate: -0.115741 deg/s, posRepo size: 4
2021-08-14T14:23:49.569Z,1628951029.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.300003 m,
      bearing: 264.035907 deg,
      approachRate: -0.691917 m/s,
      LOS rate: -0.115741 deg/s,
      cmd update: -0.347223 deg/s,
      cmd heading: 269.225446 deg,
      new cmd heading: 269.158960 deg.

2021-08-14T14:23:51.979Z,1628951031.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:52.337Z,1628951032.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:52.337Z,1628951032.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:52.337Z,1628951032.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:52.338Z,1628951032.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:52.773Z,1628951032.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00ADC,186,80,80,AB,FF
2021-08-14T14:23:52.773Z,1628951032.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:52.773Z,1628951032.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:52.777Z,1628951032.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:53.149Z,1628951033.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:53.550Z,1628951033.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,00AA4,186,80,80,AB,FF
2021-08-14T14:23:53.550Z,1628951033.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:53.979Z,1628951033.979 [Micromodem](INFO): Nmea in: $SNTTA,0.093748,,,,142354.49*49

2021-08-14T14:23:54.030Z,1628951034.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.940002 m, bearing: 264.209421 deg, deltaT: 4.452866 s, approachRate: -0.754570 m/s, LOS rate: 0.038967 deg/s, posRepo size: 4
2021-08-14T14:23:54.032Z,1628951034.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.940002 m,
      bearing: 264.209421 deg,
      approachRate: -0.754570 m/s,
      LOS rate: 0.038967 deg/s,
      cmd update: 0.116901 deg/s,
      cmd heading: 267.679225 deg,
      new cmd heading: 267.521462 deg.

2021-08-14T14:23:56.402Z,1628951036.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:23:56.817Z,1628951036.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:23:56.817Z,1628951036.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:23:56.817Z,1628951036.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:23:56.818Z,1628951036.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:23:57.185Z,1628951037.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,00AA4,186,80,80,AB,FF
2021-08-14T14:23:57.185Z,1628951037.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:23:57.185Z,1628951037.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:23:57.187Z,1628951037.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:23:57.607Z,1628951037.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:23:57.998Z,1628951037.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,097,000,0095C,186,80,80,AD,FF
2021-08-14T14:23:57.998Z,1628951037.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:23:58.438Z,1628951038.438 [Micromodem](INFO): Nmea in: $SNTTA,0.075164,,,,142358.90*41

2021-08-14T14:23:58.460Z,1628951038.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.260002 m, bearing: 264.526861 deg, deltaT: 4.470318 s, approachRate: -4.402371 m/s, LOS rate: 0.071011 deg/s, posRepo size: 4
2021-08-14T14:23:58.462Z,1628951038.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.260002 m,
      bearing: 264.526861 deg,
      approachRate: -4.402371 m/s,
      LOS rate: 0.071011 deg/s,
      cmd update: 0.213032 deg/s,
      cmd heading: 268.201808 deg,
      new cmd heading: 268.250183 deg.

2021-08-14T14:24:00.910Z,1628951040.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:01.233Z,1628951041.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:01.233Z,1628951041.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:01.233Z,1628951041.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:01.234Z,1628951041.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:01.660Z,1628951041.660 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
097,000,0095C,186,80,80,AD,FF
2021-08-14T14:24:01.661Z,1628951041.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:01.661Z,1628951041.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:01.662Z,1628951041.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:02.049Z,1628951042.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:02.467Z,1628951042.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00A3A,186,80,80,BB,FF
2021-08-14T14:24:02.467Z,1628951042.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:02.873Z,1628951042.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142403.37*5A

2021-08-14T14:24:02.951Z,1628951042.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.579994 m, bearing: 263.929766 deg, deltaT: 4.439253 s, approachRate: 3.000503 m/s, LOS rate: -0.134504 deg/s, posRepo size: 4
2021-08-14T14:24:02.958Z,1628951042.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 263.929766 deg,
      approachRate: 3.000503 m/s,
      LOS rate: -0.134504 deg/s,
      cmd update: -0.403511 deg/s,
      cmd heading: 269.147373 deg,
      new cmd heading: 269.246886 deg.

2021-08-14T14:24:05.307Z,1628951045.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:05.686Z,1628951045.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:05.686Z,1628951045.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:05.687Z,1628951045.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:05.687Z,1628951045.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:06.077Z,1628951046.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00A3A,186,80,80,BB,FF
2021-08-14T14:24:06.077Z,1628951046.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:06.077Z,1628951046.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:06.079Z,1628951046.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:06.492Z,1628951046.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:06.889Z,1628951046.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00A07,186,80,80,B1,FF
2021-08-14T14:24:06.890Z,1628951046.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:07.330Z,1628951047.330 [Micromodem](INFO): Nmea in: $SNTTA,0.090602,,,,142407.79*47

2021-08-14T14:24:07.365Z,1628951047.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.519997 m, bearing: 264.339113 deg, deltaT: 4.483299 s, approachRate: -0.682533 m/s, LOS rate: 0.091305 deg/s, posRepo size: 4
2021-08-14T14:24:07.367Z,1628951047.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.519997 m,
      bearing: 264.339113 deg,
      approachRate: -0.682533 m/s,
      LOS rate: 0.091305 deg/s,
      cmd update: 0.273915 deg/s,
      cmd heading: 267.339679 deg,
      new cmd heading: 267.178113 deg.

2021-08-14T14:24:09.790Z,1628951049.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:10.133Z,1628951050.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:10.133Z,1628951050.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:10.133Z,1628951050.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:10.134Z,1628951050.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:10.534Z,1628951050.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00A07,186,80,80,B1,FF
2021-08-14T14:24:10.534Z,1628951050.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:10.534Z,1628951050.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:10.542Z,1628951050.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:10.933Z,1628951050.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:11.342Z,1628951051.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,009D2,185,80,80,B6,FF
2021-08-14T14:24:11.343Z,1628951051.343 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:11.793Z,1628951051.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142412.25*59

2021-08-14T14:24:11.853Z,1628951051.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.340004 m, bearing: 264.299689 deg, deltaT: 4.441908 s, approachRate: -0.715907 m/s, LOS rate: -0.008875 deg/s, posRepo size: 4
2021-08-14T14:24:11.855Z,1628951051.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.340004 m,
      bearing: 264.299689 deg,
      approachRate: -0.715907 m/s,
      LOS rate: -0.008875 deg/s,
      cmd update: -0.026626 deg/s,
      cmd heading: 268.556396 deg,
      new cmd heading: 268.678689 deg.

2021-08-14T14:24:14.183Z,1628951054.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:14.580Z,1628951054.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:14.581Z,1628951054.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:14.582Z,1628951054.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:14.583Z,1628951054.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:14.982Z,1628951054.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,009D2,185,80,80,B6,FF
2021-08-14T14:24:14.982Z,1628951054.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:14.982Z,1628951054.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:14.984Z,1628951054.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:15.377Z,1628951055.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:15.809Z,1628951055.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,0099E,186,80,80,BF,FF
2021-08-14T14:24:15.809Z,1628951055.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:16.222Z,1628951056.222 [Micromodem](INFO): Nmea in: $SNTTA,0.076017,,,,142416.69*4C

2021-08-14T14:24:16.266Z,1628951056.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 263.480148 deg, deltaT: 4.471055 s, approachRate: -0.697823 m/s, LOS rate: -0.183299 deg/s, posRepo size: 4
2021-08-14T14:24:16.268Z,1628951056.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.220001 m,
      bearing: 263.480148 deg,
      approachRate: -0.697823 m/s,
      LOS rate: -0.183299 deg/s,
      cmd update: -0.549898 deg/s,
      cmd heading: 268.437460 deg,
      new cmd heading: 268.427024 deg.

2021-08-14T14:24:17.882Z,1628951057.882 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:24:18.722Z,1628951058.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:19.009Z,1628951059.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:19.009Z,1628951059.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:19.010Z,1628951059.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:19.010Z,1628951059.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:19.418Z,1628951059.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,0099E,186,80,80,BF,FF
2021-08-14T14:24:19.418Z,1628951059.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:19.418Z,1628951059.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:19.420Z,1628951059.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:19.825Z,1628951059.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:20.225Z,1628951060.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,0096A,186,80,80,CD,FF
2021-08-14T14:24:20.226Z,1628951060.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:20.669Z,1628951060.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142421.13*5C

2021-08-14T14:24:20.729Z,1628951060.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.100006 m, bearing: 263.352150 deg, deltaT: 4.362023 s, approachRate: -0.715263 m/s, LOS rate: -0.029344 deg/s, posRepo size: 4
2021-08-14T14:24:20.749Z,1628951060.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.100006 m,
      bearing: 263.352150 deg,
      approachRate: -0.715263 m/s,
      LOS rate: -0.029344 deg/s,
      cmd update: -0.088031 deg/s,
      cmd heading: 266.034487 deg,
      new cmd heading: 265.768403 deg.

2021-08-14T14:24:22.782Z,1628951062.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:23.049Z,1628951063.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:23.049Z,1628951063.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:23.049Z,1628951063.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:23.050Z,1628951063.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:23.462Z,1628951063.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,0096A,186,80,80,CD,FF
2021-08-14T14:24:23.462Z,1628951063.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:23.462Z,1628951063.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:23.464Z,1628951063.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:23.860Z,1628951063.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:24.261Z,1628951064.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,0093B,186,80,80,BC,FF
2021-08-14T14:24:24.262Z,1628951064.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:24.706Z,1628951064.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142425.17*5C

2021-08-14T14:24:24.818Z,1628951064.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.280006 m, bearing: 263.193799 deg, deltaT: 4.035325 s, approachRate: -0.698828 m/s, LOS rate: -0.039241 deg/s, posRepo size: 4
2021-08-14T14:24:24.825Z,1628951064.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.280006 m,
      bearing: 263.193799 deg,
      approachRate: -0.698828 m/s,
      LOS rate: -0.039241 deg/s,
      cmd update: -0.117724 deg/s,
      cmd heading: 265.679245 deg,
      new cmd heading: 265.631715 deg.

2021-08-14T14:24:26.806Z,1628951066.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:27.093Z,1628951067.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:27.093Z,1628951067.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:27.093Z,1628951067.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:27.094Z,1628951067.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:27.499Z,1628951067.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,0093B,186,80,80,BC,FF
2021-08-14T14:24:27.499Z,1628951067.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:27.499Z,1628951067.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:27.501Z,1628951067.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:27.905Z,1628951067.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:28.309Z,1628951068.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0090E,186,80,80,AC,FF
2021-08-14T14:24:28.310Z,1628951068.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:28.745Z,1628951068.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142429.21*55

2021-08-14T14:24:28.831Z,1628951068.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.580002 m, bearing: 262.778524 deg, deltaT: 4.048083 s, approachRate: -0.666983 m/s, LOS rate: -0.102586 deg/s, posRepo size: 4
2021-08-14T14:24:28.833Z,1628951068.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.580002 m,
      bearing: 262.778524 deg,
      approachRate: -0.666983 m/s,
      LOS rate: -0.102586 deg/s,
      cmd update: -0.307757 deg/s,
      cmd heading: 265.202692 deg,
      new cmd heading: 265.143310 deg.

2021-08-14T14:24:31.162Z,1628951071.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:31.533Z,1628951071.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:31.533Z,1628951071.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:31.533Z,1628951071.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:31.534Z,1628951071.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:31.945Z,1628951071.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0090E,186,80,80,AC,FF
2021-08-14T14:24:31.945Z,1628951071.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:31.945Z,1628951071.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:31.947Z,1628951071.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:32.353Z,1628951072.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:32.761Z,1628951072.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,008DB,186,80,80,93,FF
2021-08-14T14:24:32.762Z,1628951072.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:33.181Z,1628951073.181 [Micromodem](INFO): Nmea in: $SNTTA,0.102747,,,,142433.66*44

2021-08-14T14:24:33.217Z,1628951073.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.520004 m, bearing: 263.520419 deg, deltaT: 4.539426 s, approachRate: -0.674093 m/s, LOS rate: 0.163434 deg/s, posRepo size: 4
2021-08-14T14:24:33.219Z,1628951073.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.520004 m,
      bearing: 263.520419 deg,
      approachRate: -0.674093 m/s,
      LOS rate: 0.163434 deg/s,
      cmd update: 0.490301 deg/s,
      cmd heading: 263.806856 deg,
      new cmd heading: 263.697784 deg.

2021-08-14T14:24:35.600Z,1628951075.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:35.981Z,1628951075.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:35.981Z,1628951075.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:35.981Z,1628951075.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:35.982Z,1628951075.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:36.385Z,1628951076.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,008DB,186,80,80,93,FF
2021-08-14T14:24:36.385Z,1628951076.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:36.385Z,1628951076.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:36.387Z,1628951076.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:36.821Z,1628951076.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:37.189Z,1628951077.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,008A8,186,80,80,A6,FF
2021-08-14T14:24:37.189Z,1628951077.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:37.633Z,1628951077.633 [Micromodem](INFO): Nmea in: $SNTTA,0.065806,,,,142438.10*44

2021-08-14T14:24:37.655Z,1628951077.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.459999 m, bearing: 263.737428 deg, deltaT: 4.377037 s, approachRate: -0.699104 m/s, LOS rate: 0.049579 deg/s, posRepo size: 4
2021-08-14T14:24:37.658Z,1628951077.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.459999 m,
      bearing: 263.737428 deg,
      approachRate: -0.699104 m/s,
      LOS rate: 0.049579 deg/s,
      cmd update: 0.148737 deg/s,
      cmd heading: 265.952969 deg,
      new cmd heading: 266.157111 deg.

2021-08-14T14:24:40.046Z,1628951080.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:40.425Z,1628951080.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:40.425Z,1628951080.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:40.426Z,1628951080.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:40.427Z,1628951080.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:40.825Z,1628951080.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,008A8,186,80,80,A6,FF
2021-08-14T14:24:40.825Z,1628951080.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:40.825Z,1628951080.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:40.827Z,1628951080.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:41.233Z,1628951081.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:41.638Z,1628951081.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00875,186,80,80,CB,FF
2021-08-14T14:24:41.638Z,1628951081.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:42.081Z,1628951082.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142442.54*5A

2021-08-14T14:24:42.128Z,1628951082.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 262.952092 deg, deltaT: 4.416234 s, approachRate: -0.692897 m/s, LOS rate: -0.177829 deg/s, posRepo size: 4
2021-08-14T14:24:42.130Z,1628951082.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.400002 m,
      bearing: 262.952092 deg,
      approachRate: -0.692897 m/s,
      LOS rate: -0.177829 deg/s,
      cmd update: -0.533487 deg/s,
      cmd heading: 266.610436 deg,
      new cmd heading: 266.677101 deg.

2021-08-14T14:24:44.492Z,1628951084.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:44.881Z,1628951084.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:44.881Z,1628951084.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:44.881Z,1628951084.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:44.882Z,1628951084.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:45.278Z,1628951085.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00875,186,80,80,CB,FF
2021-08-14T14:24:45.278Z,1628951085.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:45.278Z,1628951085.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:45.280Z,1628951085.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:45.679Z,1628951085.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:46.093Z,1628951086.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,00841,186,80,80,AD,FF
2021-08-14T14:24:46.093Z,1628951086.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:46.525Z,1628951086.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142446.99*5F

2021-08-14T14:24:46.617Z,1628951086.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 263.333272 deg, deltaT: 4.460898 s, approachRate: -0.699411 m/s, LOS rate: 0.085449 deg/s, posRepo size: 4
2021-08-14T14:24:46.619Z,1628951086.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.279999 m,
      bearing: 263.333272 deg,
      approachRate: -0.699411 m/s,
      LOS rate: 0.085449 deg/s,
      cmd update: 0.256347 deg/s,
      cmd heading: 264.230623 deg,
      new cmd heading: 263.971458 deg.

2021-08-14T14:24:48.994Z,1628951088.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:49.317Z,1628951089.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:49.317Z,1628951089.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:49.317Z,1628951089.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:49.318Z,1628951089.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:49.721Z,1628951089.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,00841,186,80,80,AD,FF
2021-08-14T14:24:49.721Z,1628951089.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:49.722Z,1628951089.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:49.725Z,1628951089.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:50.133Z,1628951090.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:50.534Z,1628951090.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00807,187,80,80,A4,FF
2021-08-14T14:24:50.534Z,1628951090.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:50.965Z,1628951090.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142451.43*5E

2021-08-14T14:24:51.049Z,1628951091.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.800003 m, bearing: 262.933596 deg, deltaT: 4.503969 s, approachRate: -0.772651 m/s, LOS rate: -0.088738 deg/s, posRepo size: 4
2021-08-14T14:24:51.051Z,1628951091.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.800003 m,
      bearing: 262.933596 deg,
      approachRate: -0.772651 m/s,
      LOS rate: -0.088738 deg/s,
      cmd update: -0.266215 deg/s,
      cmd heading: 265.384144 deg,
      new cmd heading: 265.494090 deg.

2021-08-14T14:24:53.382Z,1628951093.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:53.782Z,1628951093.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:53.782Z,1628951093.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:53.783Z,1628951093.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:53.783Z,1628951093.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:54.157Z,1628951094.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00807,187,80,80,A4,FF
2021-08-14T14:24:54.157Z,1628951094.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:54.158Z,1628951094.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:54.159Z,1628951094.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:54.602Z,1628951094.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:54.989Z,1628951094.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,007D3,186,80,80,8A,FF
2021-08-14T14:24:54.990Z,1628951094.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:24:55.413Z,1628951095.413 [Micromodem](INFO): Nmea in: $SNTTA,0.080498,,,,142455.87*41

2021-08-14T14:24:55.436Z,1628951095.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.680000 m, bearing: 263.617653 deg, deltaT: 4.395987 s, approachRate: -0.709739 m/s, LOS rate: 0.155609 deg/s, posRepo size: 4
2021-08-14T14:24:55.438Z,1628951095.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.680000 m,
      bearing: 263.617653 deg,
      approachRate: -0.709739 m/s,
      LOS rate: 0.155609 deg/s,
      cmd update: 0.466828 deg/s,
      cmd heading: 264.212757 deg,
      new cmd heading: 264.102193 deg.

2021-08-14T14:24:57.841Z,1628951097.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:24:58.209Z,1628951098.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:24:58.209Z,1628951098.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:24:58.209Z,1628951098.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:24:58.210Z,1628951098.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:24:58.649Z,1628951098.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,007D3,186,80,80,8A,FF
2021-08-14T14:24:58.649Z,1628951098.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:24:58.649Z,1628951098.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:24:58.651Z,1628951098.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:24:59.045Z,1628951099.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:24:59.863Z,1628951099.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142500.36*59

2021-08-14T14:25:00.721Z,1628951100.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:02.277Z,1628951102.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,8A,FF
2021-08-14T14:25:02.277Z,1628951102.277 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,8A,FF
2021-08-14T14:25:02.278Z,1628951102.278 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:25:03.502Z,1628951103.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:03.885Z,1628951103.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:03.885Z,1628951103.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:03.885Z,1628951103.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:03.886Z,1628951103.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:04.294Z,1628951104.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,8A,FF
2021-08-14T14:25:04.294Z,1628951104.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:04.294Z,1628951104.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:04.296Z,1628951104.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:04.700Z,1628951104.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:05.102Z,1628951105.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,0075C,186,80,80,7A,FF
2021-08-14T14:25:05.103Z,1628951105.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:05.541Z,1628951105.541 [Micromodem](INFO): Nmea in: $SNTTA,0.039774,,,,142506.01*4B

2021-08-14T14:25:05.577Z,1628951105.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.540001 m, bearing: 262.100641 deg, deltaT: 10.098928 s, approachRate: -0.707006 m/s, LOS rate: -0.150215 deg/s, posRepo size: 4
2021-08-14T14:25:05.579Z,1628951105.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.540001 m,
      bearing: 262.100641 deg,
      approachRate: -0.707006 m/s,
      LOS rate: -0.150215 deg/s,
      cmd update: -0.450646 deg/s,
      cmd heading: 268.927230 deg,
      new cmd heading: 269.140709 deg.

2021-08-14T14:25:07.957Z,1628951107.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:08.336Z,1628951108.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:08.336Z,1628951108.336 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:08.337Z,1628951108.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:08.338Z,1628951108.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:08.763Z,1628951108.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0075C,186,80,80,7A,FF
2021-08-14T14:25:08.764Z,1628951108.764 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:08.765Z,1628951108.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:08.771Z,1628951108.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:09.140Z,1628951109.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:09.545Z,1628951109.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,0072B,186,80,80,7D,FF
2021-08-14T14:25:09.546Z,1628951109.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:09.989Z,1628951109.989 [Micromodem](INFO): Nmea in: $SNTTA,0.054323,,,,142510.48*4C

2021-08-14T14:25:10.038Z,1628951110.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 259.530441 deg, deltaT: 4.448201 s, approachRate: -0.660942 m/s, LOS rate: -0.577807 deg/s, posRepo size: 4
2021-08-14T14:25:10.040Z,1628951110.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 259.530441 deg,
      approachRate: -0.660942 m/s,
      LOS rate: -0.577807 deg/s,
      cmd update: -1.733420 deg/s,
      cmd heading: 266.922668 deg,
      new cmd heading: 266.710504 deg.

2021-08-14T14:25:12.406Z,1628951112.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:12.810Z,1628951112.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:12.810Z,1628951112.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:12.810Z,1628951112.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:12.811Z,1628951112.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:13.181Z,1628951113.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,0072B,186,80,80,7D,FF
2021-08-14T14:25:13.181Z,1628951113.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:13.181Z,1628951113.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:13.183Z,1628951113.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:13.584Z,1628951113.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:13.989Z,1628951113.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,006F4,185,80,80,BE,FF
2021-08-14T14:25:13.990Z,1628951113.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:14.405Z,1628951114.405 [Micromodem](INFO): Nmea in: $SNTTA,0.428567,0.052814,,,142514.89*58

2021-08-14T14:25:14.427Z,1628951114.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 260.669197 deg, deltaT: 4.476593 s, approachRate: -0.737167 m/s, LOS rate: 0.254380 deg/s, posRepo size: 4
2021-08-14T14:25:14.430Z,1628951114.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.300003 m,
      bearing: 260.669197 deg,
      approachRate: -0.737167 m/s,
      LOS rate: 0.254380 deg/s,
      cmd update: 0.763140 deg/s,
      cmd heading: 259.209589 deg,
      new cmd heading: 258.498197 deg.

2021-08-14T14:25:16.884Z,1628951116.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:17.218Z,1628951117.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:17.218Z,1628951117.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:17.218Z,1628951117.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:17.219Z,1628951117.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:17.617Z,1628951117.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,006F4,185,80,80,BE,FF
2021-08-14T14:25:17.618Z,1628951117.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:17.618Z,1628951117.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:17.619Z,1628951117.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:18.045Z,1628951118.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:18.448Z,1628951118.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,006C0,184,80,80,B1,FF
2021-08-14T14:25:18.449Z,1628951118.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:18.857Z,1628951118.857 [Micromodem](INFO): Nmea in: $SNTTA,0.046095,,,,142519.35*42

2021-08-14T14:25:18.930Z,1628951118.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 261.394290 deg, deltaT: 4.421584 s, approachRate: -0.705630 m/s, LOS rate: 0.163989 deg/s, posRepo size: 4
2021-08-14T14:25:18.936Z,1628951118.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.180000 m,
      bearing: 261.394290 deg,
      approachRate: -0.705630 m/s,
      LOS rate: 0.163989 deg/s,
      cmd update: 0.491968 deg/s,
      cmd heading: 262.604478 deg,
      new cmd heading: 262.958955 deg.

2021-08-14T14:25:21.289Z,1628951121.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:21.665Z,1628951121.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:21.665Z,1628951121.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:21.665Z,1628951121.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:21.666Z,1628951121.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:22.073Z,1628951122.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,006C0,184,80,80,B1,FF
2021-08-14T14:25:22.073Z,1628951122.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:22.073Z,1628951122.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:22.075Z,1628951122.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:22.488Z,1628951122.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:22.885Z,1628951122.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00690,187,80,80,B7,FF
2021-08-14T14:25:22.885Z,1628951122.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:23.320Z,1628951123.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142523.78*52

2021-08-14T14:25:23.336Z,1628951123.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 260.143382 deg, deltaT: 4.520397 s, approachRate: -0.637112 m/s, LOS rate: -0.276725 deg/s, posRepo size: 4
2021-08-14T14:25:23.338Z,1628951123.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.299999 m,
      bearing: 260.143382 deg,
      approachRate: -0.637112 m/s,
      LOS rate: -0.276725 deg/s,
      cmd update: -0.830176 deg/s,
      cmd heading: 264.826372 deg,
      new cmd heading: 265.000588 deg.

2021-08-14T14:25:25.788Z,1628951125.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:26.113Z,1628951126.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:26.113Z,1628951126.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:26.113Z,1628951126.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:26.114Z,1628951126.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:26.518Z,1628951126.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00690,187,80,80,B7,FF
2021-08-14T14:25:26.518Z,1628951126.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:26.518Z,1628951126.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:26.520Z,1628951126.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:26.932Z,1628951126.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:27.321Z,1628951127.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0065C,186,80,80,B5,FF
2021-08-14T14:25:27.322Z,1628951127.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:27.777Z,1628951127.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142528.23*57

2021-08-14T14:25:27.811Z,1628951127.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.179996 m, bearing: 260.429294 deg, deltaT: 4.357442 s, approachRate: -0.716017 m/s, LOS rate: 0.065615 deg/s, posRepo size: 4
2021-08-14T14:25:27.814Z,1628951127.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.179996 m,
      bearing: 260.429294 deg,
      approachRate: -0.716017 m/s,
      LOS rate: 0.065615 deg/s,
      cmd update: 0.196844 deg/s,
      cmd heading: 261.205602 deg,
      new cmd heading: 260.817600 deg.

2021-08-14T14:25:30.203Z,1628951130.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:30.560Z,1628951130.560 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:30.561Z,1628951130.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:30.561Z,1628951130.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:30.562Z,1628951130.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:30.974Z,1628951130.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0065C,186,80,80,B5,FF
2021-08-14T14:25:30.974Z,1628951130.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:30.974Z,1628951130.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:30.976Z,1628951130.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:31.373Z,1628951131.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:31.809Z,1628951131.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00627,186,80,80,9E,FF
2021-08-14T14:25:31.810Z,1628951131.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:32.204Z,1628951132.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.000004 m, bearing: 260.659089 deg, deltaT: 4.542217 s, approachRate: -0.700097 m/s, LOS rate: 0.050591 deg/s, posRepo size: 4
2021-08-14T14:25:32.206Z,1628951132.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.000004 m,
      bearing: 260.659089 deg,
      approachRate: -0.700097 m/s,
      LOS rate: 0.050591 deg/s,
      cmd update: 0.151773 deg/s,
      cmd heading: 262.099694 deg,
      new cmd heading: 262.162301 deg.

2021-08-14T14:25:34.674Z,1628951134.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:35.037Z,1628951135.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:35.037Z,1628951135.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:35.037Z,1628951135.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:35.038Z,1628951135.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:35.397Z,1628951135.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00627,186,80,80,9E,FF
2021-08-14T14:25:35.398Z,1628951135.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:35.398Z,1628951135.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:35.400Z,1628951135.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:35.837Z,1628951135.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:36.209Z,1628951136.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,005F6,186,80,80,9E,FF
2021-08-14T14:25:36.209Z,1628951136.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:36.669Z,1628951136.669 [Micromodem](INFO): Nmea in: $SNTTA,0.041067,,,,142537.11*42

2021-08-14T14:25:36.767Z,1628951136.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.060001 m, bearing: 259.993145 deg, deltaT: 4.340653 s, approachRate: -0.677318 m/s, LOS rate: -0.153420 deg/s, posRepo size: 4
2021-08-14T14:25:36.774Z,1628951136.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.060001 m,
      bearing: 259.993145 deg,
      approachRate: -0.677318 m/s,
      LOS rate: -0.153420 deg/s,
      cmd update: -0.460260 deg/s,
      cmd heading: 262.758504 deg,
      new cmd heading: 262.839228 deg.

2021-08-14T14:25:39.098Z,1628951139.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:39.441Z,1628951139.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:39.441Z,1628951139.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:39.441Z,1628951139.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:39.442Z,1628951139.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:39.846Z,1628951139.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,005F6,186,80,80,9E,FF
2021-08-14T14:25:39.846Z,1628951139.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:39.846Z,1628951139.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:39.849Z,1628951139.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:40.264Z,1628951140.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:40.757Z,1628951140.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,005C4,186,80,80,81,FF
2021-08-14T14:25:40.758Z,1628951140.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:40.786Z,1628951140.786 [Micromodem](INFO): Nmea in: $SNTTA,0.304236,0.304418,,,142541.56*50

2021-08-14T14:25:41.103Z,1628951141.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 258.613064 deg, deltaT: 4.623363 s, approachRate: -0.648880 m/s, LOS rate: -0.298501 deg/s, posRepo size: 4
2021-08-14T14:25:41.106Z,1628951141.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 258.613064 deg,
      approachRate: -0.648880 m/s,
      LOS rate: -0.298501 deg/s,
      cmd update: -0.895505 deg/s,
      cmd heading: 260.630872 deg,
      new cmd heading: 260.513773 deg.

2021-08-14T14:25:43.509Z,1628951143.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:43.885Z,1628951143.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:43.885Z,1628951143.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:43.885Z,1628951143.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:43.886Z,1628951143.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:44.286Z,1628951144.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,005C4,186,80,80,81,FF
2021-08-14T14:25:44.287Z,1628951144.287 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:44.287Z,1628951144.287 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:44.289Z,1628951144.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:44.697Z,1628951144.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:45.101Z,1628951145.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00591,184,80,80,89,FF
2021-08-14T14:25:45.101Z,1628951145.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:45.534Z,1628951145.534 [Micromodem](INFO): Nmea in: $SNTTA,0.043705,,,,142546.00*45

2021-08-14T14:25:45.578Z,1628951145.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 260.719877 deg, deltaT: 4.268475 s, approachRate: -0.716883 m/s, LOS rate: 0.493575 deg/s, posRepo size: 4
2021-08-14T14:25:45.580Z,1628951145.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 260.719877 deg,
      approachRate: -0.716883 m/s,
      LOS rate: 0.493575 deg/s,
      cmd update: 1.480725 deg/s,
      cmd heading: 256.807819 deg,
      new cmd heading: 256.395853 deg.

2021-08-14T14:25:47.978Z,1628951147.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:48.326Z,1628951148.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:48.326Z,1628951148.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:48.327Z,1628951148.327 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:48.328Z,1628951148.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:48.749Z,1628951148.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00591,184,80,80,89,FF
2021-08-14T14:25:48.749Z,1628951148.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:48.750Z,1628951148.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:48.759Z,1628951148.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:49.146Z,1628951149.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:49.541Z,1628951149.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,0055F,183,80,80,98,FF
2021-08-14T14:25:49.541Z,1628951149.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:49.975Z,1628951149.975 [Micromodem](INFO): Nmea in: $SNTTA,0.049085,,,,142550.47*44

2021-08-14T14:25:50.033Z,1628951150.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.000000 m, bearing: 261.483028 deg, deltaT: 4.482971 s, approachRate: -0.669198 m/s, LOS rate: 0.170233 deg/s, posRepo size: 4
2021-08-14T14:25:50.035Z,1628951150.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.000000 m,
      bearing: 261.483028 deg,
      approachRate: -0.669198 m/s,
      LOS rate: 0.170233 deg/s,
      cmd update: 0.510700 deg/s,
      cmd heading: 263.427864 deg,
      new cmd heading: 264.084745 deg.

2021-08-14T14:25:52.400Z,1628951152.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:52.809Z,1628951152.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:52.809Z,1628951152.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:52.809Z,1628951152.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:52.810Z,1628951152.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:53.177Z,1628951153.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,0055F,183,80,80,98,FF
2021-08-14T14:25:53.177Z,1628951153.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:53.177Z,1628951153.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:53.179Z,1628951153.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:53.595Z,1628951153.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:53.985Z,1628951153.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,0052A,186,80,80,7F,FF
2021-08-14T14:25:53.985Z,1628951153.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:54.429Z,1628951154.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142554.89*5C

2021-08-14T14:25:54.489Z,1628951154.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.820000 m, bearing: 257.243256 deg, deltaT: 4.451269 s, approachRate: -0.714403 m/s, LOS rate: -0.952486 deg/s, posRepo size: 4
2021-08-14T14:25:54.496Z,1628951154.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.820000 m,
      bearing: 257.243256 deg,
      approachRate: -0.714403 m/s,
      LOS rate: -0.952486 deg/s,
      cmd update: -2.857458 deg/s,
      cmd heading: 265.707322 deg,
      new cmd heading: 265.927188 deg.

2021-08-14T14:25:56.901Z,1628951156.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:25:57.226Z,1628951157.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:25:57.226Z,1628951157.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:25:57.226Z,1628951157.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:25:57.227Z,1628951157.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:25:57.629Z,1628951157.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,0052A,186,80,80,7F,FF
2021-08-14T14:25:57.629Z,1628951157.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:25:57.629Z,1628951157.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:25:57.631Z,1628951157.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:25:58.029Z,1628951158.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:25:58.438Z,1628951158.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,004F4,185,80,80,97,FF
2021-08-14T14:25:58.438Z,1628951158.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:25:58.881Z,1628951158.881 [Micromodem](INFO): Nmea in: $SNTTA,0.061048,,,,142559.34*42

2021-08-14T14:25:58.950Z,1628951158.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 258.124597 deg, deltaT: 4.407086 s, approachRate: -0.735180 m/s, LOS rate: 0.199983 deg/s, posRepo size: 4
2021-08-14T14:25:58.950Z,1628951158.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.58 m.
2021-08-14T14:25:58.953Z,1628951158.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.579998 m,
      bearing: 258.124597 deg,
      approachRate: -0.735180 m/s,
      LOS rate: 0.199983 deg/s,
      cmd update: 0.599948 deg/s,
      cmd heading: 253.114338 deg,
      new cmd heading: 251.712457 deg.

2021-08-14T14:25:59.275Z,1628951159.275 [PowerOnly](INFO): Powering up loadControl
2021-08-14T14:25:59.309Z,1628951159.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:25:59.309Z,1628951159.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:25:59.309Z,1628951159.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:25:59.310Z,1628951159.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:25:59.310Z,1628951159.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:25:59.310Z,1628951159.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:25:59.706Z,1628951159.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:25:59.706Z,1628951159.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:25:59.707Z,1628951159.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:25:59.707Z,1628951159.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:26:00.977Z,1628951160.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:01.261Z,1628951161.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:01.261Z,1628951161.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:01.261Z,1628951161.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:01.262Z,1628951161.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:01.665Z,1628951161.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,004F4,185,80,80,97,FF
2021-08-14T14:26:01.665Z,1628951161.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:01.665Z,1628951161.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:01.667Z,1628951161.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:02.072Z,1628951162.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:02.910Z,1628951162.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142603.38*57

2021-08-14T14:26:03.716Z,1628951163.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:05.297Z,1628951165.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,97,FF
2021-08-14T14:26:05.298Z,1628951165.298 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,97,FF
2021-08-14T14:26:05.298Z,1628951165.298 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:26:06.551Z,1628951166.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:06.917Z,1628951166.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:06.917Z,1628951166.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:06.917Z,1628951166.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:06.918Z,1628951166.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:07.325Z,1628951167.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,97,FF
2021-08-14T14:26:07.325Z,1628951167.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:07.325Z,1628951167.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:07.327Z,1628951167.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:07.755Z,1628951167.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:08.133Z,1628951168.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00485,183,80,80,9C,FF
2021-08-14T14:26:08.133Z,1628951168.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:08.154Z,1628951168.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:08.593Z,1628951168.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142609.04*52

2021-08-14T14:26:08.650Z,1628951168.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 257.536080 deg, deltaT: 9.691642 s, approachRate: -0.687190 m/s, LOS rate: -0.060724 deg/s, posRepo size: 4
2021-08-14T14:26:08.651Z,1628951168.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.92 m.
2021-08-14T14:26:08.653Z,1628951168.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.920000 m,
      bearing: 257.536080 deg,
      approachRate: -0.687190 m/s,
      LOS rate: -0.060724 deg/s,
      cmd update: -0.182172 deg/s,
      cmd heading: 258.928474 deg,
      new cmd heading: 259.228183 deg.

2021-08-14T14:26:11.040Z,1628951171.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:11.373Z,1628951171.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:11.373Z,1628951171.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:11.373Z,1628951171.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:11.374Z,1628951171.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:11.805Z,1628951171.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00485,183,80,80,9C,FF
2021-08-14T14:26:11.805Z,1628951171.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:11.805Z,1628951171.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:11.807Z,1628951171.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:12.203Z,1628951172.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:12.589Z,1628951172.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00459,184,80,80,88,FF
2021-08-14T14:26:12.590Z,1628951172.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:12.685Z,1628951172.685 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:13.013Z,1628951173.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142613.52*5A

2021-08-14T14:26:13.061Z,1628951173.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 256.956908 deg, deltaT: 4.531044 s, approachRate: -0.582647 m/s, LOS rate: -0.127823 deg/s, posRepo size: 4
2021-08-14T14:26:13.062Z,1628951173.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.28 m.
2021-08-14T14:26:13.062Z,1628951173.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.28 m.
2021-08-14T14:26:13.062Z,1628951173.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T14:26:13.069Z,1628951173.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 256.956908 deg,
      approachRate: -0.582647 m/s,
      LOS rate: -0.127823 deg/s,
      cmd update: -0.383470 deg/s,
      cmd heading: 258.103716 deg,
      new cmd heading: 258.033856 deg.

2021-08-14T14:26:15.437Z,1628951175.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:15.829Z,1628951175.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:15.829Z,1628951175.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:15.829Z,1628951175.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:15.830Z,1628951175.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:16.213Z,1628951176.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00459,184,80,80,88,FF
2021-08-14T14:26:16.213Z,1628951176.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:16.213Z,1628951176.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:16.215Z,1628951176.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:16.653Z,1628951176.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:17.041Z,1628951177.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00432,184,80,80,67,FF
2021-08-14T14:26:17.041Z,1628951177.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:17.073Z,1628951177.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:17.469Z,1628951177.469 [Micromodem](INFO): Nmea in: $SNTTA,0.039969,,,,142617.92*40

2021-08-14T14:26:17.485Z,1628951177.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 258.032772 deg, deltaT: 4.388055 s, approachRate: -0.533267 m/s, LOS rate: 0.245180 deg/s, posRepo size: 4
2021-08-14T14:26:17.487Z,1628951177.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.939999 m,
      bearing: 258.032772 deg,
      approachRate: -0.533267 m/s,
      LOS rate: 0.245180 deg/s,
      cmd update: 0.735541 deg/s,
      cmd heading: 256.419480 deg,
      new cmd heading: 256.260317 deg.

2021-08-14T14:26:19.891Z,1628951179.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:20.253Z,1628951180.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:20.253Z,1628951180.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:20.253Z,1628951180.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:20.254Z,1628951180.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:20.657Z,1628951180.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00432,184,80,80,67,FF
2021-08-14T14:26:20.657Z,1628951180.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:20.657Z,1628951180.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:20.659Z,1628951180.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:21.069Z,1628951181.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:21.465Z,1628951181.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,003F5,185,80,80,A5,FF
2021-08-14T14:26:21.466Z,1628951181.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:21.486Z,1628951181.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:21.905Z,1628951181.905 [Micromodem](INFO): Nmea in: $SNTTA,0.031417,,,,142622.37*45

2021-08-14T14:26:21.967Z,1628951181.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 256.289489 deg, deltaT: 4.413154 s, approachRate: -0.829338 m/s, LOS rate: -0.395020 deg/s, posRepo size: 4
2021-08-14T14:26:21.985Z,1628951181.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.280001 m,
      bearing: 256.289489 deg,
      approachRate: -0.829338 m/s,
      LOS rate: -0.395020 deg/s,
      cmd update: -1.185059 deg/s,
      cmd heading: 259.665483 deg,
      new cmd heading: 260.021489 deg.

2021-08-14T14:26:24.309Z,1628951184.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:24.689Z,1628951184.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:24.689Z,1628951184.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:24.689Z,1628951184.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:24.690Z,1628951184.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:25.101Z,1628951185.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,003F5,185,80,80,A5,FF
2021-08-14T14:26:25.101Z,1628951185.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:25.102Z,1628951185.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:25.103Z,1628951185.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:25.504Z,1628951185.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:25.905Z,1628951185.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,003CE,186,80,80,9B,FF
2021-08-14T14:26:25.905Z,1628951185.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:25.972Z,1628951185.972 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:26.357Z,1628951186.357 [Micromodem](INFO): Nmea in: $SNTTA,0.013675,,,,142626.81*4A

2021-08-14T14:26:26.386Z,1628951186.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 255.559888 deg, deltaT: 4.486281 s, approachRate: -0.521591 m/s, LOS rate: -0.162629 deg/s, posRepo size: 4
2021-08-14T14:26:26.388Z,1628951186.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.939997 m,
      bearing: 255.559888 deg,
      approachRate: -0.521591 m/s,
      LOS rate: -0.162629 deg/s,
      cmd update: -0.487888 deg/s,
      cmd heading: 254.358753 deg,
      new cmd heading: 253.855593 deg.

2021-08-14T14:26:28.841Z,1628951188.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:29.145Z,1628951189.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:29.145Z,1628951189.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:29.145Z,1628951189.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:29.146Z,1628951189.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:29.554Z,1628951189.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,003CE,186,80,80,9B,FF
2021-08-14T14:26:29.554Z,1628951189.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:29.555Z,1628951189.555 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:29.585Z,1628951189.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:29.961Z,1628951189.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:30.357Z,1628951190.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00393,184,80,80,6E,FF
2021-08-14T14:26:30.358Z,1628951190.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:30.391Z,1628951190.391 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:30.799Z,1628951190.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142631.33*5D

2021-08-14T14:26:30.881Z,1628951190.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 254.405040 deg, deltaT: 4.418532 s, approachRate: -0.801170 m/s, LOS rate: -0.261365 deg/s, posRepo size: 4
2021-08-14T14:26:30.883Z,1628951190.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 254.405040 deg,
      approachRate: -0.801170 m/s,
      LOS rate: -0.261365 deg/s,
      cmd update: -0.784094 deg/s,
      cmd heading: 252.199316 deg,
      new cmd heading: 251.960529 deg.

2021-08-14T14:26:33.207Z,1628951193.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:33.589Z,1628951193.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:33.589Z,1628951193.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:33.589Z,1628951193.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:33.590Z,1628951193.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:33.989Z,1628951193.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00393,184,80,80,6E,FF
2021-08-14T14:26:33.989Z,1628951193.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:33.990Z,1628951193.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:33.991Z,1628951193.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:34.397Z,1628951194.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:34.817Z,1628951194.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,0037B,183,80,80,6A,FF
2021-08-14T14:26:34.817Z,1628951194.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:34.888Z,1628951194.888 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:35.245Z,1628951195.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142635.70*5E

2021-08-14T14:26:35.268Z,1628951195.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 252.762680 deg, deltaT: 4.496934 s, approachRate: -0.320218 m/s, LOS rate: -0.365218 deg/s, posRepo size: 4
2021-08-14T14:26:35.270Z,1628951195.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 252.762680 deg,
      approachRate: -0.320218 m/s,
      LOS rate: -0.365218 deg/s,
      cmd update: -1.095653 deg/s,
      cmd heading: 248.676074 deg,
      new cmd heading: 248.372291 deg.

2021-08-14T14:26:37.659Z,1628951197.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:38.037Z,1628951198.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:38.037Z,1628951198.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:38.037Z,1628951198.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:38.038Z,1628951198.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:38.437Z,1628951198.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,0037B,183,80,80,6A,FF
2021-08-14T14:26:38.438Z,1628951198.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:38.438Z,1628951198.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:38.439Z,1628951198.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:38.852Z,1628951198.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:39.241Z,1628951199.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,00343,186,80,80,73,FF
2021-08-14T14:26:39.241Z,1628951199.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:39.262Z,1628951199.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:39.689Z,1628951199.689 [Micromodem](INFO): Nmea in: $SNTTA,0.029603,,,,142640.15*4F

2021-08-14T14:26:39.771Z,1628951199.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 255.486504 deg, deltaT: 4.373861 s, approachRate: -0.768201 m/s, LOS rate: 0.622751 deg/s, posRepo size: 4
2021-08-14T14:26:39.777Z,1628951199.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 255.486504 deg,
      approachRate: -0.768201 m/s,
      LOS rate: 0.622751 deg/s,
      cmd update: 1.868252 deg/s,
      cmd heading: 243.879204 deg,
      new cmd heading: 243.318196 deg.

2021-08-14T14:26:42.102Z,1628951202.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:42.473Z,1628951202.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:42.473Z,1628951202.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:42.473Z,1628951202.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:42.474Z,1628951202.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:42.877Z,1628951202.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,00343,186,80,80,73,FF
2021-08-14T14:26:42.877Z,1628951202.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:42.877Z,1628951202.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:42.879Z,1628951202.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:43.293Z,1628951203.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:43.685Z,1628951203.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,0030D,186,80,80,B7,FF
2021-08-14T14:26:43.685Z,1628951203.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:43.773Z,1628951203.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:44.133Z,1628951204.133 [Micromodem](INFO): Nmea in: $SNTTA,0.006029,,,,142644.59*40

2021-08-14T14:26:44.159Z,1628951204.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 258.734068 deg, deltaT: 4.511235 s, approachRate: -0.718207 m/s, LOS rate: 0.719884 deg/s, posRepo size: 4
2021-08-14T14:26:44.161Z,1628951204.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 258.734068 deg,
      approachRate: -0.718207 m/s,
      LOS rate: 0.719884 deg/s,
      cmd update: 2.159651 deg/s,
      cmd heading: 252.229478 deg,
      new cmd heading: 253.034700 deg.

2021-08-14T14:26:46.592Z,1628951206.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:46.922Z,1628951206.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:46.922Z,1628951206.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:46.922Z,1628951206.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:46.923Z,1628951206.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:47.334Z,1628951207.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,0030D,186,80,80,B7,FF
2021-08-14T14:26:47.334Z,1628951207.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:47.334Z,1628951207.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:47.336Z,1628951207.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:47.757Z,1628951207.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:48.145Z,1628951208.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,002E2,187,80,80,AD,FF
2021-08-14T14:26:48.145Z,1628951208.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:48.185Z,1628951208.185 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:48.605Z,1628951208.605 [Micromodem](INFO): Nmea in: $SNTTA,0.023475,,,,142649.05*4E

2021-08-14T14:26:48.657Z,1628951208.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 260.650701 deg, deltaT: 4.412106 s, approachRate: -0.584755 m/s, LOS rate: 0.434403 deg/s, posRepo size: 4
2021-08-14T14:26:48.659Z,1628951208.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.779999 m,
      bearing: 260.650701 deg,
      approachRate: -0.584755 m/s,
      LOS rate: 0.434403 deg/s,
      cmd update: 1.303210 deg/s,
      cmd heading: 261.848160 deg,
      new cmd heading: 262.874249 deg.

2021-08-14T14:26:50.997Z,1628951210.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:51.173Z,1628951211.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:51.173Z,1628951211.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:51.173Z,1628951211.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:51.174Z,1628951211.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:51.589Z,1628951211.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,002E2,187,80,80,AD,FF
2021-08-14T14:26:51.589Z,1628951211.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:51.589Z,1628951211.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:51.591Z,1628951211.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:51.974Z,1628951211.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:52.381Z,1628951212.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,002CB,184,80,80,99,FF
2021-08-14T14:26:52.382Z,1628951212.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:52.402Z,1628951212.402 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:52.833Z,1628951212.833 [Micromodem](INFO): Nmea in: $SNTTA,0.031927,,,,142653.30*4A

2021-08-14T14:26:52.894Z,1628951212.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 270.449946 deg, deltaT: 4.216501 s, approachRate: -0.327285 m/s, LOS rate: 2.324023 deg/s, posRepo size: 4
2021-08-14T14:26:52.912Z,1628951212.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 270.449946 deg,
      approachRate: -0.327285 m/s,
      LOS rate: 2.324023 deg/s,
      cmd update: 6.972068 deg/s,
      cmd heading: 267.343041 deg,
      new cmd heading: 267.988533 deg.

2021-08-14T14:26:54.909Z,1628951214.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:55.207Z,1628951215.207 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:55.207Z,1628951215.207 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:55.207Z,1628951215.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:55.208Z,1628951215.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:26:55.617Z,1628951215.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,002CB,184,80,80,99,FF
2021-08-14T14:26:55.617Z,1628951215.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:26:55.617Z,1628951215.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:26:55.619Z,1628951215.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:26:56.014Z,1628951216.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:26:56.415Z,1628951216.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,002BC,189,80,80,7B,FF
2021-08-14T14:26:56.415Z,1628951216.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:26:56.436Z,1628951216.436 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:26:56.861Z,1628951216.861 [Micromodem](INFO): Nmea in: $SNTTA,0.024880,,,,142657.33*45

2021-08-14T14:26:56.917Z,1628951216.917 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T14:26:56.918Z,1628951216.918 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:26:56.919Z,1628951216.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T14:26:56.919Z,1628951216.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:26:56.919Z,1628951216.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T14:26:56.936Z,1628951216.936 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 
2021-08-14T14:26:56.936Z,1628951216.936 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T14:26:56.936Z,1628951216.936 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T14:26:56.936Z,1628951216.936 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T14:26:56.939Z,1628951216.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 237.300716 deg, deltaT: 4.034423 s, approachRate: -0.223080 m/s, LOS rate: -8.216597 deg/s, posRepo size: 4
2021-08-14T14:26:56.945Z,1628951216.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 237.300716 deg,
      approachRate: -0.223080 m/s,
      LOS rate: -8.216597 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.469689 deg,
      new cmd heading: 298.999920 deg.

2021-08-14T14:26:57.266Z,1628951217.266 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T142657: (41.552319, -70.708603)
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T14:26:57.267Z,1628951217.267 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:26:57.669Z,1628951217.669 [UniversalFixResidualReporter](INFO): Fix residual: 2.1 %DT, over the last 610.4 m. Residual distance 13.1 m at bearing 124.9 degrees. Fix at (41.5513, -70.7068) with 0.0 m made good.
2021-08-14T14:26:59.271Z,1628951219.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:26:59.646Z,1628951219.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:26:59.647Z,1628951219.647 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:26:59.647Z,1628951219.647 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:26:59.664Z,1628951219.664 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:00.085Z,1628951220.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,002BC,189,80,80,7B,FF
2021-08-14T14:27:00.085Z,1628951220.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:00.085Z,1628951220.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:00.087Z,1628951220.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:00.458Z,1628951220.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:00.859Z,1628951220.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,002CB,187,80,80,44,FF
2021-08-14T14:27:00.859Z,1628951220.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:00.955Z,1628951220.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:01.298Z,1628951221.298 [Micromodem](INFO): Nmea in: $SNTTA,0.028914,,,,142701.80*4F

2021-08-14T14:27:01.319Z,1628951221.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 299.790199 deg, deltaT: 4.518967 s, approachRate: 0.199160 m/s, LOS rate: 13.828267 deg/s, posRepo size: 4
2021-08-14T14:27:01.324Z,1628951221.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.828267 deg/s. Setting heading cmd to target bearing of 299.790199deg and heading rate command to 0 deg/s.
2021-08-14T14:27:03.735Z,1628951223.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:04.089Z,1628951224.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:04.089Z,1628951224.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:04.090Z,1628951224.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:04.092Z,1628951224.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:04.503Z,1628951224.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,002CB,187,80,80,44,FF
2021-08-14T14:27:04.503Z,1628951224.503 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:04.503Z,1628951224.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:04.505Z,1628951224.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:04.898Z,1628951224.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:05.306Z,1628951225.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,00302,189,80,80,71,FF
2021-08-14T14:27:05.306Z,1628951225.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:05.328Z,1628951225.328 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:05.753Z,1628951225.753 [Micromodem](INFO): Nmea in: $SNTTA,0.062088,,,,142706.22*42

2021-08-14T14:27:05.798Z,1628951225.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 329.312844 deg, deltaT: 4.372988 s, approachRate: 0.754633 m/s, LOS rate: 6.751138 deg/s, posRepo size: 4
2021-08-14T14:27:05.801Z,1628951225.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.699999 m,
      bearing: 329.312844 deg,
      approachRate: 0.754633 m/s,
      LOS rate: 6.751138 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 299.790199 deg,
      new cmd heading: 299.790199 deg.

2021-08-14T14:27:08.149Z,1628951228.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:08.560Z,1628951228.560 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:08.561Z,1628951228.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:08.561Z,1628951228.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:08.563Z,1628951228.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:08.943Z,1628951228.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0F,000,00302,189,80,80,71,FF
2021-08-14T14:27:08.943Z,1628951228.943 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:08.943Z,1628951228.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:08.947Z,1628951228.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:09.355Z,1628951229.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:09.762Z,1628951229.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00327,187,80,80,3E,FF
2021-08-14T14:27:09.763Z,1628951229.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:09.824Z,1628951229.824 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:10.185Z,1628951230.185 [Micromodem](INFO): Nmea in: $SNTTA,0.035336,,,,142710.66*41

2021-08-14T14:27:10.219Z,1628951230.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 288.467985 deg, deltaT: 4.496031 s, approachRate: 0.493770 m/s, LOS rate: -9.084648 deg/s, posRepo size: 4
2021-08-14T14:27:10.221Z,1628951230.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 288.467985 deg,
      approachRate: 0.493770 m/s,
      LOS rate: -9.084648 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 353.741588 deg,
      new cmd heading: 358.523852 deg.

2021-08-14T14:27:12.687Z,1628951232.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:12.987Z,1628951232.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:12.987Z,1628951232.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:12.987Z,1628951232.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:12.989Z,1628951232.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:13.381Z,1628951233.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00327,187,80,80,3E,FF
2021-08-14T14:27:13.381Z,1628951233.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:13.381Z,1628951233.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:13.383Z,1628951233.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:13.817Z,1628951233.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:14.189Z,1628951234.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00343,186,80,80,91,FF
2021-08-14T14:27:14.189Z,1628951234.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:14.243Z,1628951234.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:14.661Z,1628951234.661 [Micromodem](INFO): Nmea in: $SNTTA,,0.172436,,,142715.10*40

2021-08-14T14:27:14.754Z,1628951234.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 307.004244 deg, deltaT: 4.426711 s, approachRate: 0.379513 m/s, LOS rate: 4.187366 deg/s, posRepo size: 4
2021-08-14T14:27:14.771Z,1628951234.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 307.004244 deg,
      approachRate: 0.379513 m/s,
      LOS rate: 4.187366 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 300.753642 deg,
      new cmd heading: 294.701094 deg.

2021-08-14T14:27:16.789Z,1628951236.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:17.013Z,1628951237.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:17.013Z,1628951237.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:17.013Z,1628951237.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:17.014Z,1628951237.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:17.421Z,1628951237.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00343,186,80,80,91,FF
2021-08-14T14:27:17.421Z,1628951237.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:17.421Z,1628951237.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:17.423Z,1628951237.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:17.828Z,1628951237.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:18.237Z,1628951238.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00376,187,80,80,43,FF
2021-08-14T14:27:18.238Z,1628951238.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:18.260Z,1628951238.260 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:18.685Z,1628951238.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142719.13*54

2021-08-14T14:27:18.789Z,1628951238.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 332.150843 deg, deltaT: 4.009422 s, approachRate: 0.763203 m/s, LOS rate: 6.271876 deg/s, posRepo size: 4
2021-08-14T14:27:18.789Z,1628951238.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.66 m. Rolling out.
2021-08-14T14:27:18.790Z,1628951238.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T14:27:20.836Z,1628951240.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:21.118Z,1628951241.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:21.118Z,1628951241.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:21.119Z,1628951241.119 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:21.124Z,1628951241.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:21.536Z,1628951241.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,00376,187,80,80,43,FF
2021-08-14T14:27:21.537Z,1628951241.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:21.537Z,1628951241.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:21.538Z,1628951241.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:21.925Z,1628951241.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:22.336Z,1628951242.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00399,186,80,80,81,FF
2021-08-14T14:27:22.337Z,1628951242.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:22.358Z,1628951242.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:22.785Z,1628951242.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142723.25*58

2021-08-14T14:27:22.842Z,1628951242.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 345.210437 deg, deltaT: 4.097825 s, approachRate: 0.512466 m/s, LOS rate: 3.186958 deg/s, posRepo size: 4
2021-08-14T14:27:25.167Z,1628951245.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:25.561Z,1628951245.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:25.561Z,1628951245.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:25.562Z,1628951245.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:25.562Z,1628951245.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:25.957Z,1628951245.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00399,186,80,80,81,FF
2021-08-14T14:27:25.957Z,1628951245.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:25.957Z,1628951245.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:25.959Z,1628951245.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:26.365Z,1628951246.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:26.798Z,1628951246.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,003C6,186,80,80,53,FF
2021-08-14T14:27:26.798Z,1628951246.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:26.883Z,1628951246.883 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:27.205Z,1628951247.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142727.67*5A

2021-08-14T14:27:27.229Z,1628951247.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 355.590740 deg, deltaT: 4.524842 s, approachRate: 0.596706 m/s, LOS rate: 2.294070 deg/s, posRepo size: 4
2021-08-14T14:27:29.611Z,1628951249.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:30.002Z,1628951250.002 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:30.002Z,1628951250.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:30.002Z,1628951250.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:30.003Z,1628951250.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:30.413Z,1628951250.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,003C6,186,80,80,53,FF
2021-08-14T14:27:30.414Z,1628951250.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:30.414Z,1628951250.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:30.416Z,1628951250.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:30.825Z,1628951250.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:31.209Z,1628951251.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E65,000,003CC,186,80,80,77,FF
2021-08-14T14:27:31.210Z,1628951251.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:31.229Z,1628951251.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:31.653Z,1628951251.653 [Micromodem](INFO): Nmea in: $SNTTA,0.016245,,,,142732.13*47

2021-08-14T14:27:31.696Z,1628951251.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 13.808800 deg, deltaT: 4.346692 s, approachRate: 0.082822 m/s, LOS rate: 4.191250 deg/s, posRepo size: 4
2021-08-14T14:27:34.094Z,1628951254.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:34.449Z,1628951254.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:34.449Z,1628951254.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:34.449Z,1628951254.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:34.450Z,1628951254.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:34.854Z,1628951254.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E65,000,003CC,186,80,80,77,FF
2021-08-14T14:27:34.854Z,1628951254.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:34.854Z,1628951254.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:34.856Z,1628951254.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:35.261Z,1628951255.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:35.680Z,1628951255.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB0,000,003EA,189,80,80,4D,FF
2021-08-14T14:27:35.681Z,1628951255.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:35.783Z,1628951255.783 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:36.097Z,1628951256.097 [Micromodem](INFO): Nmea in: $SNTTA,0.037330,,,,142736.57*43

2021-08-14T14:27:36.143Z,1628951256.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 35.477563 deg, deltaT: 4.553611 s, approachRate: 0.395290 m/s, LOS rate: 4.758589 deg/s, posRepo size: 4
2021-08-14T14:27:38.529Z,1628951258.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:38.881Z,1628951258.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:38.881Z,1628951258.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:38.881Z,1628951258.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:38.882Z,1628951258.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:39.297Z,1628951259.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB0,000,003EA,189,80,80,4D,FF
2021-08-14T14:27:39.298Z,1628951259.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:39.298Z,1628951259.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:39.299Z,1628951259.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:39.304Z,1628951259.304 [PowerOnly](INFO): Powering down loadControl
2021-08-14T14:27:39.697Z,1628951259.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:40.129Z,1628951260.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7B,000,0040D,186,80,80,90,FF
2021-08-14T14:27:40.129Z,1628951260.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:40.216Z,1628951260.216 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:40.552Z,1628951260.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142741.01*5A

2021-08-14T14:27:40.627Z,1628951260.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 10.352424 deg, deltaT: 4.432985 s, approachRate: 0.473722 m/s, LOS rate: -5.667770 deg/s, posRepo size: 4
2021-08-14T14:27:43.001Z,1628951263.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:43.341Z,1628951263.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:43.341Z,1628951263.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:43.341Z,1628951263.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:43.342Z,1628951263.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:43.738Z,1628951263.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7B,000,0040D,186,80,80,90,FF
2021-08-14T14:27:43.738Z,1628951263.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:43.739Z,1628951263.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:43.780Z,1628951263.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:44.149Z,1628951264.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:44.542Z,1628951264.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00431,186,80,80,A9,FF
2021-08-14T14:27:44.543Z,1628951264.543 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:44.630Z,1628951264.630 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:44.979Z,1628951264.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142745.49*52

2021-08-14T14:27:45.034Z,1628951265.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 11.488569 deg, deltaT: 4.413759 s, approachRate: 0.489379 m/s, LOS rate: 0.257410 deg/s, posRepo size: 4
2021-08-14T14:27:47.405Z,1628951267.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:47.817Z,1628951267.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:47.817Z,1628951267.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:47.817Z,1628951267.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:47.818Z,1628951267.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:48.193Z,1628951268.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00431,186,80,80,A9,FF
2021-08-14T14:27:48.193Z,1628951268.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:48.193Z,1628951268.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:48.195Z,1628951268.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:48.624Z,1628951268.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:48.999Z,1628951268.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00464,187,80,80,60,FF
2021-08-14T14:27:48.999Z,1628951268.999 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:49.029Z,1628951269.029 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:49.429Z,1628951269.429 [Micromodem](INFO): Nmea in: $SNTTA,0.129521,,,,142749.91*49

2021-08-14T14:27:49.482Z,1628951269.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.939999 m, bearing: 8.645153 deg, deltaT: 4.399587 s, approachRate: 0.695519 m/s, LOS rate: -0.646292 deg/s, posRepo size: 4
2021-08-14T14:27:51.862Z,1628951271.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:52.256Z,1628951272.256 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:52.256Z,1628951272.256 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:52.256Z,1628951272.256 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:52.257Z,1628951272.257 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:52.653Z,1628951272.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00464,187,80,80,60,FF
2021-08-14T14:27:52.653Z,1628951272.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:52.653Z,1628951272.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:52.655Z,1628951272.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:53.104Z,1628951273.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:53.460Z,1628951273.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,00484,186,80,80,79,FF
2021-08-14T14:27:53.461Z,1628951273.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:53.481Z,1628951273.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:53.901Z,1628951273.901 [Micromodem](INFO): Nmea in: $SNTTA,0.050301,,,,142754.37*42

2021-08-14T14:27:53.927Z,1628951273.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 9.731146 deg, deltaT: 4.451955 s, approachRate: 0.431271 m/s, LOS rate: 0.243936 deg/s, posRepo size: 4
2021-08-14T14:27:56.313Z,1628951276.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:27:56.689Z,1628951276.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:27:56.689Z,1628951276.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:27:56.689Z,1628951276.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:27:56.690Z,1628951276.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:27:57.102Z,1628951277.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,00484,186,80,80,79,FF
2021-08-14T14:27:57.102Z,1628951277.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:27:57.102Z,1628951277.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:27:57.105Z,1628951277.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:27:57.497Z,1628951277.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:27:57.902Z,1628951277.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,004B6,186,80,80,58,FF
2021-08-14T14:27:57.903Z,1628951277.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:27:57.982Z,1628951277.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:27:58.333Z,1628951278.333 [Micromodem](INFO): Nmea in: $SNTTA,0.044442,,,,142758.82*45

2021-08-14T14:27:58.363Z,1628951278.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 8.021985 deg, deltaT: 4.500978 s, approachRate: 0.666522 m/s, LOS rate: -0.379731 deg/s, posRepo size: 4
2021-08-14T14:28:00.838Z,1628951280.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:01.146Z,1628951281.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:01.146Z,1628951281.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:01.146Z,1628951281.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:01.147Z,1628951281.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:01.533Z,1628951281.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,004B6,186,80,80,58,FF
2021-08-14T14:28:01.533Z,1628951281.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:01.533Z,1628951281.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:01.535Z,1628951281.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:01.943Z,1628951281.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:02.341Z,1628951282.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,004DC,185,80,80,41,FF
2021-08-14T14:28:02.341Z,1628951282.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:02.382Z,1628951282.382 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:28:02.805Z,1628951282.805 [Micromodem](INFO): Nmea in: $SNTTA,0.418749,,,,142803.25*4C

2021-08-14T14:28:02.874Z,1628951282.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.139999 m, bearing: 353.485949 deg, deltaT: 4.399603 s, approachRate: 0.518229 m/s, LOS rate: -3.303940 deg/s, posRepo size: 4
2021-08-14T14:28:04.892Z,1628951284.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:05.185Z,1628951285.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:05.186Z,1628951285.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:05.186Z,1628951285.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:05.187Z,1628951285.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:05.573Z,1628951285.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,004DC,185,80,80,41,FF
2021-08-14T14:28:05.573Z,1628951285.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:05.573Z,1628951285.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:05.575Z,1628951285.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:05.985Z,1628951285.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:06.389Z,1628951286.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,028,000,00509,184,80,80,55,FF
2021-08-14T14:28:06.390Z,1628951286.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:06.410Z,1628951286.410 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:28:06.834Z,1628951286.834 [Micromodem](INFO): Nmea in: $SNTTA,0.050105,,,,142807.29*42

2021-08-14T14:28:06.931Z,1628951286.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 348.718122 deg, deltaT: 4.027930 s, approachRate: 0.670320 m/s, LOS rate: -1.183692 deg/s, posRepo size: 4
2021-08-14T14:28:09.232Z,1628951289.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:09.621Z,1628951289.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:09.621Z,1628951289.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:09.622Z,1628951289.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:09.623Z,1628951289.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:10.021Z,1628951290.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
028,000,00509,184,80,80,55,FF
2021-08-14T14:28:10.021Z,1628951290.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:10.022Z,1628951290.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:10.023Z,1628951290.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:10.424Z,1628951290.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:10.825Z,1628951290.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00537,186,80,80,64,FF
2021-08-14T14:28:10.825Z,1628951290.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:10.953Z,1628951290.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:28:11.265Z,1628951291.265 [Micromodem](INFO): Nmea in: $SNTTA,0.039718,,,,142811.74*48

2021-08-14T14:28:11.295Z,1628951291.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 343.940405 deg, deltaT: 4.543026 s, approachRate: 0.607524 m/s, LOS rate: -1.051660 deg/s, posRepo size: 4
2021-08-14T14:28:11.717Z,1628951291.717 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:28:11.717Z,1628951291.717 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:28:11.718Z,1628951291.718 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:28:11.719Z,1628951291.719 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:28:11.719Z,1628951291.719 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:28:11.719Z,1628951291.719 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:28:12.137Z,1628951292.137 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:28:12.138Z,1628951292.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:28:12.138Z,1628951292.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:28:12.138Z,1628951292.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:28:13.667Z,1628951293.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:14.053Z,1628951294.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:14.053Z,1628951294.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:14.053Z,1628951294.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:14.054Z,1628951294.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:14.461Z,1628951294.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00537,186,80,80,64,FF
2021-08-14T14:28:14.462Z,1628951294.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:14.462Z,1628951294.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:14.463Z,1628951294.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:14.872Z,1628951294.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:15.269Z,1628951295.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,00565,189,80,80,48,FF
2021-08-14T14:28:15.269Z,1628951295.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:15.716Z,1628951295.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142816.18*5F

2021-08-14T14:28:15.800Z,1628951295.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 30.696550 deg, deltaT: 4.359937 s, approachRate: 0.633037 m/s, LOS rate: 10.724045 deg/s, posRepo size: 4
2021-08-14T14:28:18.125Z,1628951298.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:18.501Z,1628951298.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:18.501Z,1628951298.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:18.501Z,1628951298.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:18.502Z,1628951298.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:18.913Z,1628951298.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,00565,189,80,80,48,FF
2021-08-14T14:28:18.913Z,1628951298.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:18.913Z,1628951298.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:18.915Z,1628951298.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:19.313Z,1628951299.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:19.716Z,1628951299.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,0058F,189,80,80,87,FF
2021-08-14T14:28:19.717Z,1628951299.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:20.177Z,1628951300.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142820.63*56

2021-08-14T14:28:20.203Z,1628951300.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 321.400562 deg, deltaT: 4.489170 s, approachRate: 0.561351 m/s, LOS rate: -15.436262 deg/s, posRepo size: 4
2021-08-14T14:28:22.625Z,1628951302.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:22.945Z,1628951302.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:22.946Z,1628951302.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:22.946Z,1628951302.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:22.947Z,1628951302.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:23.350Z,1628951303.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,0058F,189,80,80,87,FF
2021-08-14T14:28:23.350Z,1628951303.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:23.350Z,1628951303.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:23.353Z,1628951303.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:23.781Z,1628951303.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:24.157Z,1628951304.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,005C4,186,80,80,58,FF
2021-08-14T14:28:24.157Z,1628951304.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:24.625Z,1628951304.625 [Micromodem](INFO): Nmea in: $SNTTA,0.043567,,,,142825.06*4D

2021-08-14T14:28:24.719Z,1628951304.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 339.924882 deg, deltaT: 4.375030 s, approachRate: 0.726851 m/s, LOS rate: 4.234101 deg/s, posRepo size: 4
2021-08-14T14:28:27.030Z,1628951307.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:27.389Z,1628951307.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:27.389Z,1628951307.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:27.389Z,1628951307.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:27.390Z,1628951307.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:27.817Z,1628951307.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,005C4,186,80,80,58,FF
2021-08-14T14:28:27.817Z,1628951307.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:27.817Z,1628951307.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:27.819Z,1628951307.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:28.197Z,1628951308.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:28.659Z,1628951308.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,005ED,186,80,80,6E,FF
2021-08-14T14:28:28.661Z,1628951308.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:28.668Z,1628951308.668 [Micromodem](INFO): Nmea in: $SNTTA,0.046586,0.317320,,,142829.53*51

2021-08-14T14:28:29.053Z,1628951309.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 11.526285 deg, deltaT: 4.615254 s, approachRate: 0.533015 m/s, LOS rate: 6.847162 deg/s, posRepo size: 4
2021-08-14T14:28:31.447Z,1628951311.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:31.845Z,1628951311.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:31.846Z,1628951311.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:31.846Z,1628951311.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:31.847Z,1628951311.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:32.241Z,1628951312.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,005ED,186,80,80,6E,FF
2021-08-14T14:28:32.241Z,1628951312.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:32.241Z,1628951312.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:32.243Z,1628951312.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:32.674Z,1628951312.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:32.692Z,1628951312.692 [Micromodem](INFO): Nmea in: 0.39330*73

2021-08-14T14:28:32.692Z,1628951312.692 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0.39330*73
 expected 0
2021-08-14T14:28:33.049Z,1628951313.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,00410,189,80,80,3A,FF
2021-08-14T14:28:33.049Z,1628951313.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:33.491Z,1628951313.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 21.856522 deg, deltaT: 4.314152 s, approachRate: -6.633979 m/s, LOS rate: 2.394500 deg/s, posRepo size: 4
2021-08-14T14:28:33.887Z,1628951313.887 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:28:33.887Z,1628951313.887 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:28:33.887Z,1628951313.887 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:28:33.904Z,1628951313.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:28:33.904Z,1628951313.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:28:33.904Z,1628951313.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:28:34.293Z,1628951314.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:28:34.293Z,1628951314.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:28:34.293Z,1628951314.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:28:34.293Z,1628951314.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:28:35.906Z,1628951315.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:36.273Z,1628951316.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:36.273Z,1628951316.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:36.273Z,1628951316.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:36.274Z,1628951316.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:36.689Z,1628951316.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,00410,189,80,80,3A,FF
2021-08-14T14:28:36.689Z,1628951316.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:36.689Z,1628951316.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:36.691Z,1628951316.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:37.132Z,1628951317.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:37.533Z,1628951317.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00654,187,80,80,32,FF
2021-08-14T14:28:37.534Z,1628951317.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:37.553Z,1628951317.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:28:37.965Z,1628951317.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142838.41*5F

2021-08-14T14:28:38.021Z,1628951318.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 324.599085 deg, deltaT: 4.446910 s, approachRate: 7.825659 m/s, LOS rate: -12.875781 deg/s, posRepo size: 4
2021-08-14T14:28:38.373Z,1628951318.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:28:38.374Z,1628951318.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:28:38.374Z,1628951318.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:28:38.374Z,1628951318.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:28:38.374Z,1628951318.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:28:38.374Z,1628951318.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:28:38.841Z,1628951318.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:28:38.841Z,1628951318.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:28:38.841Z,1628951318.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:28:38.841Z,1628951318.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:28:40.378Z,1628951320.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:40.800Z,1628951320.800 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:40.800Z,1628951320.800 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:40.800Z,1628951320.800 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:40.801Z,1628951320.801 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:41.173Z,1628951321.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00654,187,80,80,32,FF
2021-08-14T14:28:41.174Z,1628951321.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:41.174Z,1628951321.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:41.175Z,1628951321.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:41.576Z,1628951321.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:41.977Z,1628951321.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,00681,189,80,80,69,FF
2021-08-14T14:28:41.977Z,1628951321.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:42.422Z,1628951322.422 [Micromodem](INFO): Nmea in: $SNTTA,0.067659,,,,142842.89*43

2021-08-14T14:28:42.443Z,1628951322.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 20.002740 deg, deltaT: 4.520496 s, approachRate: 0.597280 m/s, LOS rate: 12.256098 deg/s, posRepo size: 4
2021-08-14T14:28:44.886Z,1628951324.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:45.213Z,1628951325.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:45.213Z,1628951325.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:45.213Z,1628951325.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:45.214Z,1628951325.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:45.617Z,1628951325.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,00681,189,80,80,69,FF
2021-08-14T14:28:45.617Z,1628951325.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:45.617Z,1628951325.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:45.619Z,1628951325.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:46.041Z,1628951326.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:46.425Z,1628951326.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,006B0,189,80,80,56,FF
2021-08-14T14:28:46.425Z,1628951326.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:46.872Z,1628951326.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142847.33*52

2021-08-14T14:28:46.953Z,1628951326.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 19.200968 deg, deltaT: 4.399420 s, approachRate: 0.640993 m/s, LOS rate: -0.182245 deg/s, posRepo size: 4
2021-08-14T14:28:49.286Z,1628951329.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:49.657Z,1628951329.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:49.657Z,1628951329.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:49.657Z,1628951329.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:49.658Z,1628951329.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:50.061Z,1628951330.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,006B0,189,80,80,56,FF
2021-08-14T14:28:50.061Z,1628951330.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:50.061Z,1628951330.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:50.063Z,1628951330.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:50.478Z,1628951330.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:50.881Z,1628951330.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,006E2,186,80,80,58,FF
2021-08-14T14:28:50.881Z,1628951330.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:51.314Z,1628951331.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142851.77*55

2021-08-14T14:28:51.335Z,1628951331.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 11.566774 deg, deltaT: 4.538436 s, approachRate: 0.661019 m/s, LOS rate: -1.682120 deg/s, posRepo size: 4
2021-08-14T14:28:53.784Z,1628951333.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:54.109Z,1628951334.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:54.109Z,1628951334.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:54.109Z,1628951334.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:54.110Z,1628951334.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:54.513Z,1628951334.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,006E2,186,80,80,58,FF
2021-08-14T14:28:54.513Z,1628951334.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:54.513Z,1628951334.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:54.515Z,1628951334.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:54.921Z,1628951334.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:55.321Z,1628951335.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,0070F,186,80,80,92,FF
2021-08-14T14:28:55.321Z,1628951335.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:28:55.769Z,1628951335.769 [Micromodem](INFO): Nmea in: $SNTTA,0.063159,,,,142856.23*45

2021-08-14T14:28:55.809Z,1628951335.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 6.116918 deg, deltaT: 4.329155 s, approachRate: 0.623679 m/s, LOS rate: -1.258873 deg/s, posRepo size: 4
2021-08-14T14:28:58.192Z,1628951338.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:28:58.548Z,1628951338.548 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:28:58.549Z,1628951338.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:28:58.550Z,1628951338.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:28:58.551Z,1628951338.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:28:58.960Z,1628951338.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,0070F,186,80,80,92,FF
2021-08-14T14:28:58.960Z,1628951338.960 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:28:58.961Z,1628951338.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:28:58.962Z,1628951338.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:28:59.374Z,1628951339.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:28:59.801Z,1628951339.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00743,186,80,80,98,FF
2021-08-14T14:28:59.801Z,1628951339.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:00.233Z,1628951340.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142900.68*5E

2021-08-14T14:29:00.255Z,1628951340.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.040001 m, bearing: 3.292051 deg, deltaT: 4.489787 s, approachRate: 0.694911 m/s, LOS rate: -0.629176 deg/s, posRepo size: 4
2021-08-14T14:29:02.767Z,1628951342.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:03.001Z,1628951343.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:03.001Z,1628951343.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:03.001Z,1628951343.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:03.002Z,1628951343.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:03.409Z,1628951343.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00743,186,80,80,98,FF
2021-08-14T14:29:03.410Z,1628951343.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:03.410Z,1628951343.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:03.411Z,1628951343.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:03.834Z,1628951343.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:04.205Z,1628951344.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00774,186,80,80,A2,FF
2021-08-14T14:29:04.206Z,1628951344.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:04.670Z,1628951344.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142905.12*56

2021-08-14T14:29:04.682Z,1628951344.682 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T14:29:04.695Z,1628951344.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 5.693331 deg, deltaT: 4.394333 s, approachRate: 0.669044 m/s, LOS rate: 0.546449 deg/s, posRepo size: 4
2021-08-14T14:29:06.761Z,1628951346.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:07.029Z,1628951347.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:07.029Z,1628951347.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:07.029Z,1628951347.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:07.030Z,1628951347.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:07.442Z,1628951347.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00774,186,80,80,A2,FF
2021-08-14T14:29:07.442Z,1628951347.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:07.442Z,1628951347.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:07.444Z,1628951347.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:07.840Z,1628951347.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:08.241Z,1628951348.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,007A1,186,80,80,8C,FF
2021-08-14T14:29:08.241Z,1628951348.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:08.681Z,1628951348.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142909.16*5E

2021-08-14T14:29:08.794Z,1628951348.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 6.686588 deg, deltaT: 4.036419 s, approachRate: 0.668909 m/s, LOS rate: 0.246074 deg/s, posRepo size: 4
2021-08-14T14:29:10.791Z,1628951350.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:11.069Z,1628951351.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:11.069Z,1628951351.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:11.069Z,1628951351.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:11.070Z,1628951351.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:11.481Z,1628951351.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,007A1,186,80,80,8C,FF
2021-08-14T14:29:11.481Z,1628951351.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:11.481Z,1628951351.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:11.483Z,1628951351.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:11.895Z,1628951351.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:12.281Z,1628951352.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,007CC,186,80,80,9E,FF
2021-08-14T14:29:12.281Z,1628951352.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:12.744Z,1628951352.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142913.19*5A

2021-08-14T14:29:12.819Z,1628951352.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.259995 m, bearing: 4.158915 deg, deltaT: 4.039708 s, approachRate: 0.638659 m/s, LOS rate: -0.625707 deg/s, posRepo size: 4
2021-08-14T14:29:15.182Z,1628951355.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:15.509Z,1628951355.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:15.509Z,1628951355.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:15.509Z,1628951355.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:15.510Z,1628951355.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:15.921Z,1628951355.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,007CC,186,80,80,9E,FF
2021-08-14T14:29:15.921Z,1628951355.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:15.922Z,1628951355.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:15.923Z,1628951355.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:16.325Z,1628951356.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:16.734Z,1628951356.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,007FD,186,80,80,99,FF
2021-08-14T14:29:16.740Z,1628951356.740 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:17.177Z,1628951357.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142917.63*53

2021-08-14T14:29:17.219Z,1628951357.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.199997 m, bearing: 4.102589 deg, deltaT: 4.546398 s, approachRate: 0.646666 m/s, LOS rate: -0.012389 deg/s, posRepo size: 4
2021-08-14T14:29:19.571Z,1628951359.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:19.965Z,1628951359.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:19.965Z,1628951359.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:19.965Z,1628951359.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:19.966Z,1628951359.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:20.361Z,1628951360.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,007FD,186,80,80,99,FF
2021-08-14T14:29:20.361Z,1628951360.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:20.361Z,1628951360.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:20.363Z,1628951360.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:20.809Z,1628951360.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:21.181Z,1628951361.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,0082E,185,80,80,9C,FF
2021-08-14T14:29:21.182Z,1628951361.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:21.618Z,1628951361.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142922.07*57

2021-08-14T14:29:21.636Z,1628951361.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 2.177588 deg, deltaT: 4.381624 s, approachRate: 0.670986 m/s, LOS rate: -0.439335 deg/s, posRepo size: 4
2021-08-14T14:29:24.045Z,1628951364.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:24.401Z,1628951364.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:24.401Z,1628951364.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:24.401Z,1628951364.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:24.402Z,1628951364.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:24.821Z,1628951364.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,0082E,185,80,80,9C,FF
2021-08-14T14:29:24.821Z,1628951364.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:24.821Z,1628951364.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:24.823Z,1628951364.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:25.232Z,1628951365.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:25.641Z,1628951365.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00861,186,80,80,8E,FF
2021-08-14T14:29:25.641Z,1628951365.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:26.073Z,1628951366.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142926.54*55

2021-08-14T14:29:26.099Z,1628951366.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.200005 m, bearing: 0.438019 deg, deltaT: 4.431608 s, approachRate: 0.690494 m/s, LOS rate: -0.392537 deg/s, posRepo size: 4
2021-08-14T14:29:28.481Z,1628951368.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:28.865Z,1628951368.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:28.865Z,1628951368.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:28.865Z,1628951368.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:28.866Z,1628951368.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:29.261Z,1628951369.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00861,186,80,80,8E,FF
2021-08-14T14:29:29.261Z,1628951369.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:29.261Z,1628951369.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:29.263Z,1628951369.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:29.684Z,1628951369.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:30.084Z,1628951370.084 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00894,186,80,80,A3,FF
2021-08-14T14:29:30.085Z,1628951370.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:30.514Z,1628951370.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142930.98*52

2021-08-14T14:29:30.552Z,1628951370.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.260002 m, bearing: 0.865831 deg, deltaT: 4.453672 s, approachRate: 0.687073 m/s, LOS rate: 0.096058 deg/s, posRepo size: 4
2021-08-14T14:29:32.982Z,1628951372.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:33.301Z,1628951373.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:33.301Z,1628951373.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:33.301Z,1628951373.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:33.302Z,1628951373.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:33.723Z,1628951373.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00894,186,80,80,A3,FF
2021-08-14T14:29:33.723Z,1628951373.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:33.724Z,1628951373.724 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:33.730Z,1628951373.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:34.117Z,1628951374.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:34.539Z,1628951374.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,008C7,186,80,80,94,FF
2021-08-14T14:29:34.540Z,1628951374.540 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:34.949Z,1628951374.949 [Micromodem](INFO): Nmea in: $SNTTA,0.067203,,,,142935.44*48

2021-08-14T14:29:35.130Z,1628951375.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 1.287265 deg, deltaT: 4.517321 s, approachRate: 0.677392 m/s, LOS rate: 0.093293 deg/s, posRepo size: 4
2021-08-14T14:29:37.411Z,1628951377.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:37.813Z,1628951377.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:37.813Z,1628951377.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:37.813Z,1628951377.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:37.814Z,1628951377.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:38.179Z,1628951378.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,008C7,186,80,80,94,FF
2021-08-14T14:29:38.179Z,1628951378.179 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:38.179Z,1628951378.179 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:38.181Z,1628951378.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:38.620Z,1628951378.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:38.977Z,1628951378.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,008F9,186,80,80,98,FF
2021-08-14T14:29:38.978Z,1628951378.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:39.421Z,1628951379.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142939.89*5B

2021-08-14T14:29:39.451Z,1628951379.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.320007 m, bearing: 0.362616 deg, deltaT: 4.376285 s, approachRate: 0.685515 m/s, LOS rate: -0.211286 deg/s, posRepo size: 4
2021-08-14T14:29:41.870Z,1628951381.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:42.218Z,1628951382.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:42.218Z,1628951382.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:42.218Z,1628951382.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:42.219Z,1628951382.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:42.646Z,1628951382.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,008F9,186,80,80,98,FF
2021-08-14T14:29:42.646Z,1628951382.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:42.646Z,1628951382.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:42.649Z,1628951382.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:43.053Z,1628951383.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:43.462Z,1628951383.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,0092D,186,80,80,96,FF
2021-08-14T14:29:43.462Z,1628951383.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:43.897Z,1628951383.897 [Micromodem](INFO): Nmea in: $SNTTA,0.073950,,,,142944.36*43

2021-08-14T14:29:43.923Z,1628951383.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.440002 m, bearing: 2.549302 deg, deltaT: 4.507110 s, approachRate: 0.692239 m/s, LOS rate: 0.485163 deg/s, posRepo size: 4
2021-08-14T14:29:46.314Z,1628951386.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:46.678Z,1628951386.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:46.678Z,1628951386.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:46.679Z,1628951386.679 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:46.679Z,1628951386.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:47.081Z,1628951387.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,0092D,186,80,80,96,FF
2021-08-14T14:29:47.081Z,1628951387.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:47.081Z,1628951387.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:47.083Z,1628951387.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:47.503Z,1628951387.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:47.889Z,1628951387.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,00962,186,80,80,80,FF
2021-08-14T14:29:47.890Z,1628951387.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:48.344Z,1628951388.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142948.80*54

2021-08-14T14:29:48.380Z,1628951388.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.619995 m, bearing: 2.675049 deg, deltaT: 4.421618 s, approachRate: 0.719192 m/s, LOS rate: 0.028439 deg/s, posRepo size: 4
2021-08-14T14:29:50.846Z,1628951390.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:51.129Z,1628951391.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:51.129Z,1628951391.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:51.129Z,1628951391.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:51.130Z,1628951391.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:51.542Z,1628951391.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,00962,186,80,80,80,FF
2021-08-14T14:29:51.542Z,1628951391.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:51.542Z,1628951391.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:51.544Z,1628951391.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:51.940Z,1628951391.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:52.774Z,1628951392.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142953.26*52

2021-08-14T14:29:53.571Z,1628951393.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:55.168Z,1628951395.168 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,80,FF
2021-08-14T14:29:55.171Z,1628951395.171 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,80,FF
2021-08-14T14:29:55.171Z,1628951395.171 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:29:56.433Z,1628951396.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:29:56.813Z,1628951396.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:29:56.813Z,1628951396.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:29:56.813Z,1628951396.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:29:56.814Z,1628951396.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:29:57.193Z,1628951397.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,80,FF
2021-08-14T14:29:57.193Z,1628951397.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:29:57.193Z,1628951397.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:29:57.195Z,1628951397.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:29:57.596Z,1628951397.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:29:57.993Z,1628951397.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,009D0,186,80,80,93,FF
2021-08-14T14:29:57.994Z,1628951397.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:29:58.437Z,1628951398.437 [Micromodem](INFO): Nmea in: $SNTTA,0.074997,,,,142958.91*4F

2021-08-14T14:29:58.472Z,1628951398.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.220001 m, bearing: 359.695083 deg, deltaT: 10.091933 s, approachRate: 0.653988 m/s, LOS rate: -0.295283 deg/s, posRepo size: 4
2021-08-14T14:30:00.907Z,1628951400.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:01.230Z,1628951401.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:01.230Z,1628951401.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:01.230Z,1628951401.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:01.231Z,1628951401.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:01.629Z,1628951401.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,009D0,186,80,80,93,FF
2021-08-14T14:30:01.629Z,1628951401.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:01.630Z,1628951401.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:01.631Z,1628951401.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:02.036Z,1628951402.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:02.851Z,1628951402.851 [Micromodem](INFO): Nmea in: $SNTTA,0.369223,0.369342,,,143003.35*5B

2021-08-14T14:30:03.666Z,1628951403.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:05.269Z,1628951405.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,93,FF
2021-08-14T14:30:05.269Z,1628951405.269 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,93,FF
2021-08-14T14:30:05.269Z,1628951405.269 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:30:06.563Z,1628951406.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:06.894Z,1628951406.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:06.895Z,1628951406.895 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:06.895Z,1628951406.895 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:06.896Z,1628951406.896 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:07.289Z,1628951407.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,93,FF
2021-08-14T14:30:07.289Z,1628951407.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:07.289Z,1628951407.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:07.291Z,1628951407.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:07.693Z,1628951407.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:08.530Z,1628951408.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143009.00*51

2021-08-14T14:30:09.329Z,1628951409.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:10.929Z,1628951410.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,93,FF
2021-08-14T14:30:10.929Z,1628951410.929 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,93,FF
2021-08-14T14:30:10.929Z,1628951410.929 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:30:12.172Z,1628951412.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:12.537Z,1628951412.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:12.537Z,1628951412.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:12.537Z,1628951412.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:12.538Z,1628951412.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:12.949Z,1628951412.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,93,FF
2021-08-14T14:30:12.949Z,1628951412.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:12.949Z,1628951412.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:12.951Z,1628951412.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:13.384Z,1628951413.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:13.817Z,1628951413.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,00A86,187,80,80,9F,FF
2021-08-14T14:30:13.817Z,1628951413.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:30:14.206Z,1628951414.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143014.66*5D

2021-08-14T14:30:14.222Z,1628951414.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.139999 m, bearing: 1.285852 deg, deltaT: 15.849990 s, approachRate: 0.688959 m/s, LOS rate: 0.100364 deg/s, posRepo size: 4
2021-08-14T14:30:16.781Z,1628951416.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:17.021Z,1628951417.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:17.021Z,1628951417.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:17.022Z,1628951417.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:17.022Z,1628951417.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:17.421Z,1628951417.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,00A86,187,80,80,9F,FF
2021-08-14T14:30:17.421Z,1628951417.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:17.421Z,1628951417.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:17.423Z,1628951417.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:17.828Z,1628951417.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:18.229Z,1628951418.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,00AB9,186,80,80,92,FF
2021-08-14T14:30:18.229Z,1628951418.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:30:18.693Z,1628951418.693 [Micromodem](INFO): Nmea in: $SNTTA,0.090315,,,,143019.14*45

2021-08-14T14:30:18.795Z,1628951418.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.200005 m, bearing: 2.694328 deg, deltaT: 4.394431 s, approachRate: 0.696337 m/s, LOS rate: 0.320514 deg/s, posRepo size: 4
2021-08-14T14:30:21.091Z,1628951421.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:21.461Z,1628951421.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:21.461Z,1628951421.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:21.461Z,1628951421.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:21.462Z,1628951421.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:21.861Z,1628951421.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,00AB9,186,80,80,92,FF
2021-08-14T14:30:21.861Z,1628951421.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:21.861Z,1628951421.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:21.863Z,1628951421.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:22.279Z,1628951422.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:22.673Z,1628951422.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00AEC,186,80,80,92,FF
2021-08-14T14:30:22.673Z,1628951422.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:30:23.115Z,1628951423.115 [Micromodem](INFO): Nmea in: $SNTTA,,0.292779,,,143023.58*4A

2021-08-14T14:30:23.135Z,1628951423.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.260010 m, bearing: 2.450540 deg, deltaT: 4.542326 s, approachRate: 0.673665 m/s, LOS rate: -0.053670 deg/s, posRepo size: 4
2021-08-14T14:30:25.530Z,1628951425.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:25.901Z,1628951425.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:25.901Z,1628951425.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:25.901Z,1628951425.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:25.902Z,1628951425.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:26.305Z,1628951426.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00AEC,186,80,80,92,FF
2021-08-14T14:30:26.305Z,1628951426.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:26.305Z,1628951426.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:26.307Z,1628951426.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:26.753Z,1628951426.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:28.362Z,1628951428.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:29.953Z,1628951429.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,92,FF
2021-08-14T14:30:29.953Z,1628951429.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,92,FF
2021-08-14T14:30:29.953Z,1628951429.953 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:30:31.179Z,1628951431.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:31.557Z,1628951431.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:31.557Z,1628951431.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:31.557Z,1628951431.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:31.558Z,1628951431.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:31.973Z,1628951431.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,92,FF
2021-08-14T14:30:31.973Z,1628951431.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:31.973Z,1628951431.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:31.975Z,1628951431.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:32.373Z,1628951432.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:33.194Z,1628951433.194 [Micromodem](INFO): Nmea in: $SNTTA,,0.198366,,,143033.69*4A

2021-08-14T14:30:34.014Z,1628951434.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:35.605Z,1628951435.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,92,FF
2021-08-14T14:30:35.606Z,1628951435.606 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,92,FF
2021-08-14T14:30:35.606Z,1628951435.606 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:30:36.898Z,1628951436.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:37.209Z,1628951437.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:37.209Z,1628951437.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:37.210Z,1628951437.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:37.211Z,1628951437.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:37.618Z,1628951437.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,92,FF
2021-08-14T14:30:37.618Z,1628951437.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:37.618Z,1628951437.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:37.620Z,1628951437.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:38.021Z,1628951438.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:38.433Z,1628951438.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00BA0,185,80,80,73,FF
2021-08-14T14:30:38.433Z,1628951438.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:30:38.850Z,1628951438.850 [Micromodem](INFO): Nmea in: $SNTTA,0.375383,0.375446,,,143039.33*5C

2021-08-14T14:30:38.930Z,1628951438.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.059998 m, bearing: 7.940904 deg, deltaT: 15.678320 s, approachRate: 0.688849 m/s, LOS rate: 0.350188 deg/s, posRepo size: 4
2021-08-14T14:30:41.291Z,1628951441.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:41.661Z,1628951441.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:41.661Z,1628951441.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:41.661Z,1628951441.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:41.662Z,1628951441.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:42.065Z,1628951442.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00BA0,185,80,80,73,FF
2021-08-14T14:30:42.065Z,1628951442.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:42.065Z,1628951442.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:42.067Z,1628951442.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:42.473Z,1628951442.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:43.302Z,1628951443.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143043.78*50

2021-08-14T14:30:44.126Z,1628951444.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:45.730Z,1628951445.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:45.731Z,1628951445.731 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:45.731Z,1628951445.731 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:30:46.966Z,1628951446.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:47.317Z,1628951447.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:47.317Z,1628951447.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:47.317Z,1628951447.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:47.318Z,1628951447.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:47.727Z,1628951447.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:47.728Z,1628951447.728 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:47.729Z,1628951447.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:47.735Z,1628951447.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:48.132Z,1628951448.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:48.950Z,1628951448.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143049.45*54

2021-08-14T14:30:49.794Z,1628951449.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:51.354Z,1628951451.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:51.354Z,1628951451.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:51.354Z,1628951451.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:30:52.664Z,1628951452.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:52.977Z,1628951452.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:52.977Z,1628951452.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:52.978Z,1628951452.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:52.978Z,1628951452.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:53.381Z,1628951453.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:53.381Z,1628951453.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:53.382Z,1628951453.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:53.383Z,1628951453.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:53.816Z,1628951453.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:54.646Z,1628951454.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143055.10*59

2021-08-14T14:30:55.418Z,1628951455.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:57.005Z,1628951457.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:57.006Z,1628951457.006 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:57.006Z,1628951457.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:30:58.248Z,1628951458.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:30:58.649Z,1628951458.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:30:58.649Z,1628951458.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:30:58.649Z,1628951458.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:30:58.650Z,1628951458.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:30:59.029Z,1628951459.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,73,FF
2021-08-14T14:30:59.029Z,1628951459.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:30:59.029Z,1628951459.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:30:59.031Z,1628951459.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:30:59.442Z,1628951459.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:30:59.852Z,1628951459.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00C8D,186,80,80,8E,FF
2021-08-14T14:30:59.853Z,1628951459.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:00.297Z,1628951460.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143100.74*5A

2021-08-14T14:31:00.332Z,1628951460.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.279999 m, bearing: 358.798225 deg, deltaT: 21.389036 s, approachRate: 0.664827 m/s, LOS rate: -0.427448 deg/s, posRepo size: 4
2021-08-14T14:31:02.724Z,1628951462.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:03.085Z,1628951463.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:03.085Z,1628951463.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:03.085Z,1628951463.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:03.086Z,1628951463.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:03.473Z,1628951463.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00C8D,186,80,80,8E,FF
2021-08-14T14:31:03.473Z,1628951463.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:03.473Z,1628951463.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:03.475Z,1628951463.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:03.893Z,1628951463.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:04.294Z,1628951464.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00CBF,186,80,80,7F,FF
2021-08-14T14:31:04.294Z,1628951464.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:04.744Z,1628951464.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143105.19*54

2021-08-14T14:31:04.846Z,1628951464.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.279999 m, bearing: 358.604520 deg, deltaT: 4.450232 s, approachRate: 0.674122 m/s, LOS rate: -0.043527 deg/s, posRepo size: 4
2021-08-14T14:31:07.146Z,1628951467.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:07.513Z,1628951467.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:07.513Z,1628951467.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:07.513Z,1628951467.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:07.514Z,1628951467.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:07.933Z,1628951467.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00CBF,186,80,80,7F,FF
2021-08-14T14:31:07.933Z,1628951467.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:07.933Z,1628951467.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:07.935Z,1628951467.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:08.325Z,1628951468.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:09.146Z,1628951469.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143109.65*53

2021-08-14T14:31:09.985Z,1628951469.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:11.553Z,1628951471.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-14T14:31:11.553Z,1628951471.553 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-14T14:31:11.553Z,1628951471.553 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:31:12.865Z,1628951472.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:13.169Z,1628951473.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:13.169Z,1628951473.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:13.169Z,1628951473.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:13.170Z,1628951473.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:13.586Z,1628951473.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7F,FF
2021-08-14T14:31:13.586Z,1628951473.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:13.586Z,1628951473.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:13.589Z,1628951473.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:13.980Z,1628951473.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:14.822Z,1628951474.822 [Micromodem](INFO): Nmea in: $SNTTA,0.430478,,,,143115.30*4C

2021-08-14T14:31:15.611Z,1628951475.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:17.213Z,1628951477.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-14T14:31:17.213Z,1628951477.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,7F,FF
2021-08-14T14:31:17.214Z,1628951477.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:31:18.468Z,1628951478.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:18.829Z,1628951478.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:18.829Z,1628951478.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:18.829Z,1628951478.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:18.830Z,1628951478.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:19.239Z,1628951479.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,7F,FF
2021-08-14T14:31:19.239Z,1628951479.239 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:19.239Z,1628951479.239 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:19.242Z,1628951479.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:19.648Z,1628951479.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:20.042Z,1628951480.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,0063,E4
F,186,80,80,7F,FF
2021-08-14T14:31:20.043Z,1628951480.043 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F71,0063,E4
F,186,80,80,7F,FF
2021-08-14T14:31:20.470Z,1628951480.470 [Micromodem](INFO): Nmea in: $SNTTA,0.114957,,,,143120.96*45

2021-08-14T14:31:21.275Z,1628951481.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:24.155Z,1628951484.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:24.896Z,1628951484.896 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065997
2021-08-14T14:31:26.977Z,1628951486.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:27.317Z,1628951487.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:27.317Z,1628951487.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:27.318Z,1628951487.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:27.318Z,1628951487.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:27.726Z,1628951487.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,0063,E4
F,186,80,80,7F,FF
2021-08-14T14:31:27.726Z,1628951487.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:27.727Z,1628951487.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:27.753Z,1628951487.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:28.120Z,1628951488.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:28.927Z,1628951488.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00DCF,186,80,80,75,FF
2021-08-14T14:31:28.928Z,1628951488.928 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:28.935Z,1628951488.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143129.47*51

2021-08-14T14:31:29.364Z,1628951489.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.599991 m, bearing: 358.288583 deg, deltaT: 24.716816 s, approachRate: 0.660279 m/s, LOS rate: -0.012782 deg/s, posRepo size: 4
2021-08-14T14:31:31.811Z,1628951491.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:32.165Z,1628951492.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:32.165Z,1628951492.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:32.166Z,1628951492.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:32.167Z,1628951492.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:32.569Z,1628951492.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00DCF,186,80,80,75,FF
2021-08-14T14:31:32.570Z,1628951492.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:32.570Z,1628951492.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:32.601Z,1628951492.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:33.029Z,1628951493.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:33.409Z,1628951493.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8C,000,00DCF,186,80,80,75,FF
2021-08-14T14:31:33.410Z,1628951493.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:33.863Z,1628951493.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143134.32*5F

2021-08-14T14:31:33.913Z,1628951493.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.599991 m, bearing: 355.602324 deg, deltaT: 4.408772 s, approachRate: 0.000000 m/s, LOS rate: -0.609299 deg/s, posRepo size: 4
2021-08-14T14:31:36.273Z,1628951496.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:36.649Z,1628951496.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:36.649Z,1628951496.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:36.649Z,1628951496.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:36.650Z,1628951496.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:37.049Z,1628951497.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8C,000,00DCF,186,80,80,75,FF
2021-08-14T14:31:37.049Z,1628951497.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:37.049Z,1628951497.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:37.051Z,1628951497.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:37.465Z,1628951497.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:38.273Z,1628951498.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9E,000,00E36,187,80,80,79,FF
2021-08-14T14:31:38.273Z,1628951498.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:38.276Z,1628951498.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143138.76*53

2021-08-14T14:31:38.787Z,1628951498.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.779999 m, bearing: 355.002224 deg, deltaT: 4.867519 s, approachRate: 1.269642 m/s, LOS rate: -0.123287 deg/s, posRepo size: 4
2021-08-14T14:31:41.141Z,1628951501.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:41.485Z,1628951501.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:41.485Z,1628951501.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:41.485Z,1628951501.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:41.486Z,1628951501.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:41.889Z,1628951501.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9E,000,00E36,187,80,80,79,FF
2021-08-14T14:31:41.889Z,1628951501.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:41.889Z,1628951501.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:41.891Z,1628951501.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:42.297Z,1628951502.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:42.713Z,1628951502.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00E36,187,80,80,79,FF
2021-08-14T14:31:42.715Z,1628951502.715 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:42.719Z,1628951502.719 [Micromodem](INFO): Nmea in: $SNTTA,0.128347,0.279516,,,143143.61*5C

2021-08-14T14:31:43.177Z,1628951503.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.779999 m, bearing: 355.456322 deg, deltaT: 4.550684 s, approachRate: 0.000000 m/s, LOS rate: 0.099787 deg/s, posRepo size: 4
2021-08-14T14:31:45.542Z,1628951505.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:45.930Z,1628951505.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:45.930Z,1628951505.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:45.930Z,1628951505.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:45.931Z,1628951505.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:46.341Z,1628951506.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00E36,187,80,80,79,FF
2021-08-14T14:31:46.342Z,1628951506.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:46.342Z,1628951506.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:46.344Z,1628951506.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:46.780Z,1628951506.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:47.553Z,1628951507.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00EAF,186,80,80,8B,FF
2021-08-14T14:31:47.554Z,1628951507.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:47.998Z,1628951507.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.039993 m, bearing: 355.153472 deg, deltaT: 4.701500 s, approachRate: 1.544187 m/s, LOS rate: -0.064416 deg/s, posRepo size: 4
2021-08-14T14:31:50.402Z,1628951510.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:50.817Z,1628951510.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:50.817Z,1628951510.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:50.817Z,1628951510.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:50.818Z,1628951510.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:51.193Z,1628951511.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00EAF,186,80,80,8B,FF
2021-08-14T14:31:51.193Z,1628951511.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:51.193Z,1628951511.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:51.195Z,1628951511.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:51.597Z,1628951511.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:52.425Z,1628951512.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00EE1,187,80,80,86,FF
2021-08-14T14:31:52.425Z,1628951512.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:52.428Z,1628951512.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143152.91*56

2021-08-14T14:31:52.903Z,1628951512.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.040009 m, bearing: 356.407877 deg, deltaT: 4.867771 s, approachRate: 0.616302 m/s, LOS rate: 0.257696 deg/s, posRepo size: 4
2021-08-14T14:31:55.247Z,1628951515.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:31:55.621Z,1628951515.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:31:55.621Z,1628951515.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:31:55.621Z,1628951515.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:31:55.622Z,1628951515.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:31:56.037Z,1628951516.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00EE1,187,80,80,86,FF
2021-08-14T14:31:56.037Z,1628951516.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:31:56.037Z,1628951516.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:31:56.039Z,1628951516.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:31:56.441Z,1628951516.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:31:57.265Z,1628951517.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00F11,187,80,80,57,FF
2021-08-14T14:31:57.265Z,1628951517.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:31:57.292Z,1628951517.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143157.75*59

2021-08-14T14:31:57.675Z,1628951517.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.919998 m, bearing: 355.016923 deg, deltaT: 4.865427 s, approachRate: 0.591929 m/s, LOS rate: -0.285885 deg/s, posRepo size: 4
2021-08-14T14:32:00.114Z,1628951520.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:00.481Z,1628951520.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:00.481Z,1628951520.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:00.481Z,1628951520.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:00.482Z,1628951520.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:00.889Z,1628951520.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00F11,187,80,80,57,FF
2021-08-14T14:32:00.889Z,1628951520.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:00.889Z,1628951520.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:00.891Z,1628951520.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:01.289Z,1628951521.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:02.106Z,1628951522.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143202.61*5F

2021-08-14T14:32:02.969Z,1628951522.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:04.517Z,1628951524.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,57,FF
2021-08-14T14:32:04.517Z,1628951524.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,57,FF
2021-08-14T14:32:04.517Z,1628951524.517 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:32:05.787Z,1628951525.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:06.129Z,1628951526.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:06.129Z,1628951526.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:06.129Z,1628951526.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:06.130Z,1628951526.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:06.533Z,1628951526.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,57,FF
2021-08-14T14:32:06.533Z,1628951526.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:06.533Z,1628951526.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:06.535Z,1628951526.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:06.952Z,1628951526.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:07.781Z,1628951527.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00F95,186,80,80,9A,FF
2021-08-14T14:32:07.781Z,1628951527.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:07.784Z,1628951527.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143208.25*55

2021-08-14T14:32:08.184Z,1628951528.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.839981 m, bearing: 354.844091 deg, deltaT: 10.501108 s, approachRate: 0.754205 m/s, LOS rate: -0.016458 deg/s, posRepo size: 4
2021-08-14T14:32:10.651Z,1628951530.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:10.987Z,1628951530.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:10.987Z,1628951530.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:10.987Z,1628951530.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:10.988Z,1628951530.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:11.389Z,1628951531.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00F95,186,80,80,9A,FF
2021-08-14T14:32:11.390Z,1628951531.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:11.390Z,1628951531.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:11.391Z,1628951531.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:11.820Z,1628951531.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:12.197Z,1628951532.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,007AB,184,80,80,A0,FF
2021-08-14T14:32:12.197Z,1628951532.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:12.657Z,1628951532.657 [Micromodem](INFO): Nmea in: $SNTTA,0.055801,,,,143213.11*4F

2021-08-14T14:32:12.756Z,1628951532.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.279999 m, bearing: 351.885827 deg, deltaT: 4.404070 s, approachRate: -27.601738 m/s, LOS rate: -0.671711 deg/s, posRepo size: 4
2021-08-14T14:32:15.064Z,1628951535.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:15.417Z,1628951535.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:15.417Z,1628951535.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:15.418Z,1628951535.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:15.419Z,1628951535.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:15.830Z,1628951535.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,007AB,184,80,80,A0,FF
2021-08-14T14:32:15.830Z,1628951535.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:15.830Z,1628951535.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:15.832Z,1628951535.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:16.237Z,1628951536.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:16.667Z,1628951536.667 [Micromodem](INFO): Nmea in: $SNTTA,0.150302,0.307321,,,143217.55*5D

2021-08-14T14:32:17.037Z,1628951537.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00FFD,185,80,80,93,FF
2021-08-14T14:32:17.037Z,1628951537.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:17.480Z,1628951537.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.079987 m, bearing: 353.195311 deg, deltaT: 4.876064 s, approachRate: 26.209661 m/s, LOS rate: 0.268553 deg/s, posRepo size: 4
2021-08-14T14:32:19.893Z,1628951539.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:20.287Z,1628951540.287 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:20.288Z,1628951540.288 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:20.291Z,1628951540.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:20.306Z,1628951540.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:20.688Z,1628951540.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00FFD,185,80,80,93,FF
2021-08-14T14:32:20.688Z,1628951540.688 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:20.689Z,1628951540.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:20.690Z,1628951540.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:21.092Z,1628951541.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:21.902Z,1628951541.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,01038,184,80,80,9A,FF
2021-08-14T14:32:21.903Z,1628951541.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:21.906Z,1628951541.906 [Micromodem](INFO): Nmea in: $SNTTA,0.143871,,,,143222.41*49

2021-08-14T14:32:22.326Z,1628951542.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.619995 m, bearing: 353.250417 deg, deltaT: 4.866357 s, approachRate: 0.727445 m/s, LOS rate: 0.011324 deg/s, posRepo size: 4
2021-08-14T14:32:24.815Z,1628951544.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:25.126Z,1628951545.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:25.126Z,1628951545.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:25.126Z,1628951545.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:25.127Z,1628951545.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:25.521Z,1628951545.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,01038,184,80,80,9A,FF
2021-08-14T14:32:25.521Z,1628951545.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:25.521Z,1628951545.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:25.523Z,1628951545.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:25.947Z,1628951545.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:26.777Z,1628951546.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,0106E,184,80,80,9D,FF
2021-08-14T14:32:26.777Z,1628951546.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:26.780Z,1628951546.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143227.24*59

2021-08-14T14:32:27.191Z,1628951547.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.859985 m, bearing: 352.230260 deg, deltaT: 4.928034 s, approachRate: 0.657461 m/s, LOS rate: -0.207011 deg/s, posRepo size: 4
2021-08-14T14:32:29.593Z,1628951549.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:29.965Z,1628951549.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:29.965Z,1628951549.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:29.965Z,1628951549.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:29.966Z,1628951549.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:30.381Z,1628951550.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,0106E,184,80,80,9D,FF
2021-08-14T14:32:30.381Z,1628951550.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:30.381Z,1628951550.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:30.383Z,1628951550.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:30.813Z,1628951550.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:31.597Z,1628951551.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,010A4,185,80,80,95,FF
2021-08-14T14:32:31.597Z,1628951551.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:31.601Z,1628951551.601 [Micromodem](INFO): Nmea in: $SNTTA,0.147307,,,,143232.10*42

2021-08-14T14:32:32.021Z,1628951552.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.099976 m, bearing: 353.399370 deg, deltaT: 4.764374 s, approachRate: 0.680045 m/s, LOS rate: 0.245386 deg/s, posRepo size: 4
2021-08-14T14:32:34.423Z,1628951554.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:34.825Z,1628951554.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:34.825Z,1628951554.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:34.825Z,1628951554.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:34.826Z,1628951554.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:35.222Z,1628951555.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,010A4,185,80,80,95,FF
2021-08-14T14:32:35.222Z,1628951555.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:35.222Z,1628951555.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:35.223Z,1628951555.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:35.628Z,1628951555.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:36.445Z,1628951556.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,010DC,184,80,80,74,FF
2021-08-14T14:32:36.446Z,1628951556.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:36.448Z,1628951556.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143236.94*52

2021-08-14T14:32:36.928Z,1628951556.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.459991 m, bearing: 352.909536 deg, deltaT: 4.815386 s, approachRate: 0.697767 m/s, LOS rate: -0.101723 deg/s, posRepo size: 4
2021-08-14T14:32:39.287Z,1628951559.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:39.673Z,1628951559.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:39.673Z,1628951559.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:39.673Z,1628951559.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:39.674Z,1628951559.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:40.073Z,1628951560.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,010DC,184,80,80,74,FF
2021-08-14T14:32:40.073Z,1628951560.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:40.073Z,1628951560.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:40.075Z,1628951560.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:40.492Z,1628951560.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:41.309Z,1628951561.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,01114,185,80,80,74,FF
2021-08-14T14:32:41.309Z,1628951561.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:41.312Z,1628951561.312 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143241.79*51

2021-08-14T14:32:41.768Z,1628951561.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.819992 m, bearing: 353.370055 deg, deltaT: 4.890194 s, approachRate: 0.687089 m/s, LOS rate: 0.094172 deg/s, posRepo size: 4
2021-08-14T14:32:44.153Z,1628951564.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:44.526Z,1628951564.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:44.526Z,1628951564.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:44.526Z,1628951564.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:44.527Z,1628951564.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:44.921Z,1628951564.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,01114,185,80,80,74,FF
2021-08-14T14:32:44.921Z,1628951564.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:44.922Z,1628951564.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:44.923Z,1628951564.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:45.343Z,1628951565.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:45.862Z,1628951565.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,0114D,184,80,80,7F,FF
2021-08-14T14:32:45.862Z,1628951565.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:46.173Z,1628951566.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143246.64*5A

2021-08-14T14:32:46.207Z,1628951566.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.239990 m, bearing: 351.941944 deg, deltaT: 4.560151 s, approachRate: 0.749975 m/s, LOS rate: -0.313172 deg/s, posRepo size: 4
2021-08-14T14:32:48.615Z,1628951568.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:48.958Z,1628951568.958 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:48.959Z,1628951568.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:48.959Z,1628951568.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:48.960Z,1628951568.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:49.355Z,1628951569.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,0114D,184,80,80,7F,FF
2021-08-14T14:32:49.355Z,1628951569.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:49.355Z,1628951569.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:49.358Z,1628951569.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:49.801Z,1628951569.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:50.613Z,1628951570.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,01175,185,80,80,87,FF
2021-08-14T14:32:50.613Z,1628951570.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:50.636Z,1628951570.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143251.08*56

2021-08-14T14:32:51.052Z,1628951571.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.639999 m, bearing: 353.398250 deg, deltaT: 4.788441 s, approachRate: 0.501209 m/s, LOS rate: 0.304129 deg/s, posRepo size: 4
2021-08-14T14:32:53.427Z,1628951573.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:53.813Z,1628951573.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:53.813Z,1628951573.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:53.813Z,1628951573.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:53.814Z,1628951573.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:54.207Z,1628951574.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,01175,185,80,80,87,FF
2021-08-14T14:32:54.207Z,1628951574.207 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:54.207Z,1628951574.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:54.211Z,1628951574.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:54.672Z,1628951574.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:32:55.425Z,1628951575.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,011B9,185,80,80,7A,FF
2021-08-14T14:32:55.426Z,1628951575.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:32:55.906Z,1628951575.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.720001 m, bearing: 351.740590 deg, deltaT: 4.739608 s, approachRate: 0.860831 m/s, LOS rate: -0.349746 deg/s, posRepo size: 4
2021-08-14T14:32:58.256Z,1628951578.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:32:58.657Z,1628951578.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:32:58.657Z,1628951578.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:32:58.657Z,1628951578.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:32:58.658Z,1628951578.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:32:59.061Z,1628951579.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,011B9,185,80,80,7A,FF
2021-08-14T14:32:59.061Z,1628951579.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:32:59.061Z,1628951579.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:32:59.063Z,1628951579.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:32:59.472Z,1628951579.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:00.290Z,1628951580.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143300.78*54

2021-08-14T14:33:00.849Z,1628951580.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:02.694Z,1628951582.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,7A,FF
2021-08-14T14:33:02.694Z,1628951582.694 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,7A,FF
2021-08-14T14:33:02.694Z,1628951582.694 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:03.518Z,1628951583.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:03.901Z,1628951583.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:03.901Z,1628951583.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:03.901Z,1628951583.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:03.902Z,1628951583.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:04.313Z,1628951584.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,7A,FF
2021-08-14T14:33:04.313Z,1628951584.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:04.314Z,1628951584.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:04.315Z,1628951584.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:04.752Z,1628951584.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:05.538Z,1628951585.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143306.03*5E

2021-08-14T14:33:06.342Z,1628951586.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:07.941Z,1628951587.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,7A,FF
2021-08-14T14:33:07.942Z,1628951587.942 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,7A,FF
2021-08-14T14:33:07.942Z,1628951587.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:08.872Z,1628951588.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:09.153Z,1628951589.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:09.153Z,1628951589.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:09.153Z,1628951589.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:09.154Z,1628951589.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:09.553Z,1628951589.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,7A,FF
2021-08-14T14:33:09.553Z,1628951589.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:09.554Z,1628951589.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:09.555Z,1628951589.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:09.961Z,1628951589.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:10.809Z,1628951590.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,0125F,182,80,80,5F,FF
2021-08-14T14:33:10.809Z,1628951590.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:33:10.812Z,1628951590.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143311.27*5E

2021-08-14T14:33:11.234Z,1628951591.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.679977 m, bearing: 349.289672 deg, deltaT: 15.443580 s, approachRate: 0.644927 m/s, LOS rate: -0.158701 deg/s, posRepo size: 4
2021-08-14T14:33:13.635Z,1628951593.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:14.005Z,1628951594.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:14.005Z,1628951594.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:14.005Z,1628951594.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:14.006Z,1628951594.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:14.405Z,1628951594.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,0125F,182,80,80,5F,FF
2021-08-14T14:33:14.405Z,1628951594.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:14.405Z,1628951594.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:14.407Z,1628951594.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:14.821Z,1628951594.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:15.650Z,1628951595.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143316.12*5F

2021-08-14T14:33:16.457Z,1628951596.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:18.041Z,1628951598.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,182,80,80,5F,FF
2021-08-14T14:33:18.041Z,1628951598.041 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,182,80,80,5F,FF
2021-08-14T14:33:18.041Z,1628951598.041 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:19.282Z,1628951599.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:19.657Z,1628951599.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:19.657Z,1628951599.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:19.657Z,1628951599.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:19.658Z,1628951599.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:20.065Z,1628951600.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,182,80,80,5F,FF
2021-08-14T14:33:20.065Z,1628951600.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:20.065Z,1628951600.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:20.067Z,1628951600.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:20.478Z,1628951600.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:21.302Z,1628951601.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143321.78*57

2021-08-14T14:33:22.118Z,1628951602.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:23.697Z,1628951603.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,182,80,80,5F,FF
2021-08-14T14:33:23.697Z,1628951603.697 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,182,80,80,5F,FF
2021-08-14T14:33:23.698Z,1628951603.698 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:24.982Z,1628951604.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:25.313Z,1628951605.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:25.313Z,1628951605.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:25.313Z,1628951605.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:25.314Z,1628951605.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:25.808Z,1628951605.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,182,80,80,5F,FF
2021-08-14T14:33:25.809Z,1628951605.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:25.809Z,1628951605.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:25.811Z,1628951605.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:26.148Z,1628951606.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:26.953Z,1628951606.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF2,000,01318,183,80,80,53,FF
2021-08-14T14:33:26.953Z,1628951606.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:33:27.369Z,1628951607.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143327.53*58

2021-08-14T14:33:27.414Z,1628951607.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.779984 m, bearing: 350.634181 deg, deltaT: 16.196634 s, approachRate: 0.685328 m/s, LOS rate: 0.083012 deg/s, posRepo size: 4
2021-08-14T14:33:27.415Z,1628951607.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 255.78 m. Resuming terminal guidance.
2021-08-14T14:33:27.415Z,1628951607.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T14:33:29.833Z,1628951609.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:30.186Z,1628951610.186 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:30.186Z,1628951610.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:30.186Z,1628951610.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:30.187Z,1628951610.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:30.640Z,1628951610.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF2,000,01318,183,80,80,53,FF
2021-08-14T14:33:30.641Z,1628951610.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:30.641Z,1628951610.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:30.644Z,1628951610.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:31.043Z,1628951611.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:31.854Z,1628951611.854 [Micromodem](INFO): Nmea in: $SNTTA,0.174978,,,,143332.36*45

2021-08-14T14:33:32.690Z,1628951612.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:34.275Z,1628951614.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:34.275Z,1628951614.275 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:34.276Z,1628951614.276 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:35.499Z,1628951615.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:35.883Z,1628951615.883 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:35.883Z,1628951615.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:35.883Z,1628951615.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:35.885Z,1628951615.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:36.301Z,1628951616.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:36.301Z,1628951616.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:36.301Z,1628951616.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:36.303Z,1628951616.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:36.693Z,1628951616.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:37.091Z,1628951617.091 [Micromodem](INFO): Nmea in: $SNTTA,0.177538,0.032150,,,143338.02*58

2021-08-14T14:33:38.326Z,1628951618.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:39.921Z,1628951619.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:39.921Z,1628951619.921 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:39.921Z,1628951619.921 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:41.146Z,1628951621.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:41.533Z,1628951621.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:41.533Z,1628951621.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:41.533Z,1628951621.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:41.534Z,1628951621.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:41.941Z,1628951621.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:41.941Z,1628951621.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:41.942Z,1628951621.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:41.943Z,1628951621.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:42.344Z,1628951622.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:43.174Z,1628951623.174 [Micromodem](INFO): Nmea in: $SNTTA,,0.252485,,,143343.66*4E

2021-08-14T14:33:43.985Z,1628951623.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:45.573Z,1628951625.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:45.573Z,1628951625.573 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:45.574Z,1628951625.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:46.878Z,1628951626.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:47.189Z,1628951627.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:47.189Z,1628951627.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:47.189Z,1628951627.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:47.190Z,1628951627.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:47.597Z,1628951627.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:47.598Z,1628951627.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:47.598Z,1628951627.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:47.600Z,1628951627.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:48.000Z,1628951628.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:48.831Z,1628951628.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143349.32*57

2021-08-14T14:33:49.630Z,1628951629.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:51.229Z,1628951631.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:51.230Z,1628951631.230 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:51.230Z,1628951631.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:52.482Z,1628951632.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:52.845Z,1628951632.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:52.845Z,1628951632.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:52.845Z,1628951632.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:52.846Z,1628951632.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:53.249Z,1628951633.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:53.249Z,1628951633.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:53.249Z,1628951633.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:53.251Z,1628951633.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:53.656Z,1628951633.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:33:54.490Z,1628951634.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143354.97*54

2021-08-14T14:33:55.301Z,1628951635.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:56.885Z,1628951636.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:56.885Z,1628951636.885 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:56.885Z,1628951636.885 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:33:58.134Z,1628951638.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:33:58.501Z,1628951638.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:33:58.501Z,1628951638.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:33:58.501Z,1628951638.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:33:58.502Z,1628951638.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:33:58.905Z,1628951638.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:33:58.905Z,1628951638.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:33:58.905Z,1628951638.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:33:58.907Z,1628951638.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:33:59.312Z,1628951639.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:00.146Z,1628951640.146 [Micromodem](INFO): Nmea in: $SNTTA,0.187848,,,,143400.62*4C

2021-08-14T14:34:00.991Z,1628951640.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:02.554Z,1628951642.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:02.555Z,1628951642.555 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:02.555Z,1628951642.555 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:34:03.813Z,1628951643.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:04.165Z,1628951644.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:04.165Z,1628951644.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:04.165Z,1628951644.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:04.166Z,1628951644.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:04.582Z,1628951644.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:04.582Z,1628951644.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:04.583Z,1628951644.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:04.598Z,1628951644.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:05.004Z,1628951645.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:05.826Z,1628951645.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143406.32*5B

2021-08-14T14:34:06.682Z,1628951646.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:08.213Z,1628951648.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:08.213Z,1628951648.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:08.213Z,1628951648.213 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:34:09.483Z,1628951649.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:09.833Z,1628951649.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:09.833Z,1628951649.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:09.833Z,1628951649.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:09.834Z,1628951649.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:10.249Z,1628951650.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:10.249Z,1628951650.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:10.249Z,1628951650.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:10.251Z,1628951650.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:10.664Z,1628951650.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:11.490Z,1628951651.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143411.97*52

2021-08-14T14:34:12.278Z,1628951652.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:13.885Z,1628951653.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:13.886Z,1628951653.886 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:13.886Z,1628951653.886 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:34:14.805Z,1628951654.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:15.089Z,1628951655.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:15.089Z,1628951655.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:15.089Z,1628951655.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:15.090Z,1628951655.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:15.505Z,1628951655.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,53,FF
2021-08-14T14:34:15.505Z,1628951655.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:15.505Z,1628951655.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:15.507Z,1628951655.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:15.897Z,1628951655.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:16.754Z,1628951656.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143417.22*5A

2021-08-14T14:34:16.780Z,1628951656.780 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T14:34:17.521Z,1628951657.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,03638,185,80,80,58,FF
2021-08-14T14:34:17.521Z,1628951657.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:17.969Z,1628951657.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 795.299988 m, bearing: 352.501555 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T14:34:17.970Z,1628951657.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 352.501555deg and heading rate command to 0 deg/s.
2021-08-14T14:34:20.363Z,1628951660.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:20.759Z,1628951660.759 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:20.760Z,1628951660.760 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:20.761Z,1628951660.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:20.762Z,1628951660.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:21.157Z,1628951661.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,03638,185,80,80,58,FF
2021-08-14T14:34:21.157Z,1628951661.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:21.157Z,1628951661.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:21.159Z,1628951661.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:21.556Z,1628951661.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:22.377Z,1628951662.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,01599,187,80,80,5F,FF
2021-08-14T14:34:22.377Z,1628951662.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:22.380Z,1628951662.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143422.88*5C

2021-08-14T14:34:22.863Z,1628951662.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.239990 m, bearing: 358.038708 deg, deltaT: 4.857914 s, approachRate: -103.143036 m/s, LOS rate: 1.139821 deg/s, posRepo size: 2
2021-08-14T14:34:22.866Z,1628951662.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.239990 m,
      bearing: 358.038708 deg,
      approachRate: -103.143036 m/s,
      LOS rate: 1.139821 deg/s,
      cmd update: 3.419463 deg/s,
      cmd heading: 352.501555 deg,
      new cmd heading: 352.501555 deg.

2021-08-14T14:34:25.221Z,1628951665.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:25.593Z,1628951665.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:25.593Z,1628951665.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:25.593Z,1628951665.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:25.594Z,1628951665.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:25.994Z,1628951665.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,01599,187,80,80,5F,FF
2021-08-14T14:34:25.995Z,1628951665.995 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:25.995Z,1628951665.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:25.997Z,1628951665.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:26.404Z,1628951666.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:27.234Z,1628951667.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143427.71*5F

2021-08-14T14:34:28.056Z,1628951668.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:29.629Z,1628951669.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,5F,FF
2021-08-14T14:34:29.630Z,1628951669.630 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,5F,FF
2021-08-14T14:34:29.630Z,1628951669.630 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:34:30.925Z,1628951670.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:31.245Z,1628951671.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:31.245Z,1628951671.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:31.245Z,1628951671.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:31.246Z,1628951671.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:31.650Z,1628951671.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,5F,FF
2021-08-14T14:34:31.650Z,1628951671.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:31.650Z,1628951671.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:31.653Z,1628951671.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:32.056Z,1628951672.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:32.885Z,1628951672.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,0161B,186,80,80,48,FF
2021-08-14T14:34:32.886Z,1628951672.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:32.889Z,1628951672.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143433.37*58

2021-08-14T14:34:33.314Z,1628951673.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.039978 m, bearing: 24.027132 deg, deltaT: 10.587495 s, approachRate: 0.736717 m/s, LOS rate: 2.454634 deg/s, posRepo size: 3
2021-08-14T14:34:33.317Z,1628951673.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.039978 m,
      bearing: 24.027132 deg,
      approachRate: 0.736717 m/s,
      LOS rate: 2.454634 deg/s,
      cmd update: 7.363902 deg/s,
      cmd heading: 28.703259 deg,
      new cmd heading: 29.832502 deg.

2021-08-14T14:34:35.773Z,1628951675.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:36.101Z,1628951676.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:36.101Z,1628951676.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:36.101Z,1628951676.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:36.102Z,1628951676.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:36.501Z,1628951676.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,0161B,186,80,80,48,FF
2021-08-14T14:34:36.502Z,1628951676.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:36.502Z,1628951676.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:36.503Z,1628951676.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:36.917Z,1628951676.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:37.733Z,1628951677.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,0164A,187,80,80,3A,FF
2021-08-14T14:34:37.735Z,1628951677.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:37.745Z,1628951677.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143438.22*57

2021-08-14T14:34:38.203Z,1628951678.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.859985 m, bearing: 7.504232 deg, deltaT: 4.829348 s, approachRate: 0.583931 m/s, LOS rate: -3.421352 deg/s, posRepo size: 4
2021-08-14T14:34:38.210Z,1628951678.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.859985 m,
      bearing: 7.504232 deg,
      approachRate: 0.583931 m/s,
      LOS rate: -3.421352 deg/s,
      cmd update: -10.264057 deg/s,
      cmd heading: 64.240124 deg,
      new cmd heading: 67.147915 deg.

2021-08-14T14:34:38.968Z,1628951678.968 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-14T14:34:40.627Z,1628951680.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:40.949Z,1628951680.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:40.949Z,1628951680.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:40.949Z,1628951680.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:40.950Z,1628951680.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:41.357Z,1628951681.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,0164A,187,80,80,3A,FF
2021-08-14T14:34:41.357Z,1628951681.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:41.358Z,1628951681.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:41.359Z,1628951681.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:41.783Z,1628951681.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:42.633Z,1628951682.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,0166A,186,80,80,58,FF
2021-08-14T14:34:42.633Z,1628951682.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:42.636Z,1628951682.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143443.08*53

2021-08-14T14:34:43.011Z,1628951683.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.779968 m, bearing: 67.722248 deg, deltaT: 4.909039 s, approachRate: 0.391112 m/s, LOS rate: 12.266762 deg/s, posRepo size: 4
2021-08-14T14:34:43.012Z,1628951683.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.266762 deg/s. Setting heading cmd to target bearing of 67.722248deg and heading rate command to 0 deg/s.
2021-08-14T14:34:45.446Z,1628951685.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:45.817Z,1628951685.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:45.817Z,1628951685.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:45.817Z,1628951685.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:45.818Z,1628951685.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:46.198Z,1628951686.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,0166A,186,80,80,58,FF
2021-08-14T14:34:46.198Z,1628951686.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:46.198Z,1628951686.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:46.200Z,1628951686.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:46.661Z,1628951686.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:47.410Z,1628951687.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCF,000,0167C,189,80,80,5A,FF
2021-08-14T14:34:47.410Z,1628951687.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:47.865Z,1628951687.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.859985 m, bearing: 91.052057 deg, deltaT: 4.710315 s, approachRate: 0.229288 m/s, LOS rate: 4.952919 deg/s, posRepo size: 4
2021-08-14T14:34:47.867Z,1628951687.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.859985 m,
      bearing: 91.052057 deg,
      approachRate: 0.229288 m/s,
      LOS rate: 4.952919 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 67.722248 deg,
      new cmd heading: 67.722248 deg.

2021-08-14T14:34:50.262Z,1628951690.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:50.660Z,1628951690.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:50.660Z,1628951690.660 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:50.661Z,1628951690.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:50.661Z,1628951690.661 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:51.045Z,1628951691.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCF,000,0167C,189,80,80,5A,FF
2021-08-14T14:34:51.046Z,1628951691.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:51.046Z,1628951691.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:51.047Z,1628951691.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:51.456Z,1628951691.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:52.282Z,1628951692.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,016A1,187,80,80,47,FF
2021-08-14T14:34:52.282Z,1628951692.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:52.285Z,1628951692.285 [Micromodem](INFO): Nmea in: $SNTTA,0.208984,,,,143452.77*4A

2021-08-14T14:34:52.763Z,1628951692.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.079987 m, bearing: 36.209855 deg, deltaT: 4.897250 s, approachRate: 0.453316 m/s, LOS rate: -11.198571 deg/s, posRepo size: 4
2021-08-14T14:34:52.776Z,1628951692.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.079987 m,
      bearing: 36.209855 deg,
      approachRate: 0.453316 m/s,
      LOS rate: -11.198571 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 126.144694 deg,
      new cmd heading: 131.520070 deg.

2021-08-14T14:34:55.137Z,1628951695.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:34:55.493Z,1628951695.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:34:55.493Z,1628951695.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:34:55.493Z,1628951695.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:34:55.494Z,1628951695.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:34:55.897Z,1628951695.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,016A1,187,80,80,47,FF
2021-08-14T14:34:55.897Z,1628951695.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:34:55.897Z,1628951695.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:34:55.899Z,1628951695.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:34:56.301Z,1628951696.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:34:56.707Z,1628951696.707 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:34:57.129Z,1628951697.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE8,000,016C8,189,80,80,2B,FF
2021-08-14T14:34:57.130Z,1628951697.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:34:57.133Z,1628951697.133 [Micromodem](INFO): Nmea in: $SNTTA,0.274697,,,,143457.62*4D

2021-08-14T14:34:57.548Z,1628951697.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.419983 m, bearing: 98.147523 deg, deltaT: 4.865657 s, approachRate: 0.480921 m/s, LOS rate: 12.729560 deg/s, posRepo size: 4
2021-08-14T14:34:57.549Z,1628951697.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.729560 deg/s. Setting heading cmd to target bearing of 98.147523deg and heading rate command to 0 deg/s.
2021-08-14T14:34:59.958Z,1628951699.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:00.344Z,1628951700.344 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:00.344Z,1628951700.344 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:00.344Z,1628951700.344 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:00.345Z,1628951700.345 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:00.748Z,1628951700.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE8,000,016C8,189,80,80,2B,FF
2021-08-14T14:35:00.749Z,1628951700.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:00.750Z,1628951700.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:00.756Z,1628951700.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:01.155Z,1628951701.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:01.985Z,1628951701.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,016CD,186,80,80,4C,FF
2021-08-14T14:35:01.986Z,1628951701.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:01.988Z,1628951701.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143502.47*5C

2021-08-14T14:35:02.383Z,1628951702.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.720001 m, bearing: 98.849762 deg, deltaT: 4.819829 s, approachRate: 0.062247 m/s, LOS rate: 0.145698 deg/s, posRepo size: 4
2021-08-14T14:35:02.386Z,1628951702.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.720001 m,
      bearing: 98.849762 deg,
      approachRate: 0.062247 m/s,
      LOS rate: 0.145698 deg/s,
      cmd update: 0.437094 deg/s,
      cmd heading: 98.147523 deg,
      new cmd heading: 98.147523 deg.

2021-08-14T14:35:04.881Z,1628951704.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:05.189Z,1628951705.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:05.189Z,1628951705.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:05.190Z,1628951705.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:05.191Z,1628951705.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:05.589Z,1628951705.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,016CD,186,80,80,4C,FF
2021-08-14T14:35:05.589Z,1628951705.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:05.589Z,1628951705.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:05.591Z,1628951705.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:06.009Z,1628951706.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:06.031Z,1628951706.031 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:35:06.838Z,1628951706.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143507.31*58

2021-08-14T14:35:07.635Z,1628951707.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:09.225Z,1628951709.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,4C,FF
2021-08-14T14:35:09.225Z,1628951709.225 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,4C,FF
2021-08-14T14:35:09.225Z,1628951709.225 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:35:10.486Z,1628951710.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:10.856Z,1628951710.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:10.856Z,1628951710.856 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:10.856Z,1628951710.856 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:10.857Z,1628951710.857 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:11.245Z,1628951711.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,4C,FF
2021-08-14T14:35:11.245Z,1628951711.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:11.245Z,1628951711.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:11.247Z,1628951711.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:11.665Z,1628951711.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:12.477Z,1628951712.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,016BC,189,80,80,60,FF
2021-08-14T14:35:12.478Z,1628951712.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:12.480Z,1628951712.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143512.96*51

2021-08-14T14:35:12.936Z,1628951712.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.700012 m, bearing: 167.754323 deg, deltaT: 10.481601 s, approachRate: -0.097312 m/s, LOS rate: 6.573858 deg/s, posRepo size: 4
2021-08-14T14:35:12.938Z,1628951712.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.700012 m,
      bearing: 167.754323 deg,
      approachRate: -0.097312 m/s,
      LOS rate: 6.573858 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 102.728999 deg,
      new cmd heading: 102.921152 deg.

2021-08-14T14:35:15.317Z,1628951715.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:15.689Z,1628951715.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:15.689Z,1628951715.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:15.689Z,1628951715.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:15.690Z,1628951715.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:16.097Z,1628951716.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,016BC,189,80,80,60,FF
2021-08-14T14:35:16.097Z,1628951716.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:16.098Z,1628951716.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:16.099Z,1628951716.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:16.516Z,1628951716.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:17.322Z,1628951717.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,016A9,189,80,80,8F,FF
2021-08-14T14:35:17.322Z,1628951717.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:17.325Z,1628951717.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143517.82*51

2021-08-14T14:35:17.773Z,1628951717.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.559998 m, bearing: 172.362446 deg, deltaT: 4.885274 s, approachRate: -0.233357 m/s, LOS rate: 0.943268 deg/s, posRepo size: 4
2021-08-14T14:35:17.775Z,1628951717.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.559998 m,
      bearing: 172.362446 deg,
      approachRate: -0.233357 m/s,
      LOS rate: 0.943268 deg/s,
      cmd update: 2.829805 deg/s,
      cmd heading: 161.253877 deg,
      new cmd heading: 166.053625 deg.

2021-08-14T14:35:20.163Z,1628951720.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:20.552Z,1628951720.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:20.553Z,1628951720.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:20.553Z,1628951720.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:20.555Z,1628951720.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:20.949Z,1628951720.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,016A9,189,80,80,8F,FF
2021-08-14T14:35:20.949Z,1628951720.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:20.949Z,1628951720.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:20.951Z,1628951720.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:21.357Z,1628951721.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:22.184Z,1628951722.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC7,000,0168B,189,80,80,9E,FF
2021-08-14T14:35:22.185Z,1628951722.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:22.188Z,1628951722.188 [Micromodem](INFO): Nmea in: $SNTTA,0.208297,,,,143522.67*44

2021-08-14T14:35:22.615Z,1628951722.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 308.759979 m, bearing: 168.959373 deg, deltaT: 4.822635 s, approachRate: -0.373244 m/s, LOS rate: -0.705646 deg/s, posRepo size: 4
2021-08-14T14:35:22.621Z,1628951722.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.759979 m,
      bearing: 168.959373 deg,
      approachRate: -0.373244 m/s,
      LOS rate: -0.705646 deg/s,
      cmd update: -2.116938 deg/s,
      cmd heading: 174.924074 deg,
      new cmd heading: 176.088590 deg.

2021-08-14T14:35:25.014Z,1628951725.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:25.389Z,1628951725.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:25.389Z,1628951725.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:25.389Z,1628951725.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:25.390Z,1628951725.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:25.814Z,1628951725.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC7,000,0168B,189,80,80,9E,FF
2021-08-14T14:35:25.814Z,1628951725.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:25.814Z,1628951725.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:25.841Z,1628951725.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:26.196Z,1628951726.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:27.012Z,1628951727.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,01661,189,80,80,76,FF
2021-08-14T14:35:27.013Z,1628951727.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:27.031Z,1628951727.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143527.56*5B

2021-08-14T14:35:27.450Z,1628951727.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.239990 m, bearing: 176.732552 deg, deltaT: 4.890901 s, approachRate: -0.515240 m/s, LOS rate: 1.589314 deg/s, posRepo size: 4
2021-08-14T14:35:27.453Z,1628951727.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.239990 m,
      bearing: 176.732552 deg,
      approachRate: -0.515240 m/s,
      LOS rate: 1.589314 deg/s,
      cmd update: 4.767943 deg/s,
      cmd heading: 164.578955 deg,
      new cmd heading: 163.817277 deg.

2021-08-14T14:35:29.880Z,1628951729.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:30.241Z,1628951730.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:30.241Z,1628951730.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:30.241Z,1628951730.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:30.242Z,1628951730.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:30.662Z,1628951730.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,01661,189,80,80,76,FF
2021-08-14T14:35:30.662Z,1628951730.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:30.663Z,1628951730.663 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:30.665Z,1628951730.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:31.056Z,1628951731.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:31.889Z,1628951731.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,01634,186,80,80,82,FF
2021-08-14T14:35:31.889Z,1628951731.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:31.892Z,1628951731.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143532.38*57

2021-08-14T14:35:32.306Z,1628951732.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.539978 m, bearing: 171.884866 deg, deltaT: 4.858885 s, approachRate: -0.555686 m/s, LOS rate: -0.997695 deg/s, posRepo size: 4
2021-08-14T14:35:32.308Z,1628951732.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.539978 m,
      bearing: 171.884866 deg,
      approachRate: -0.555686 m/s,
      LOS rate: -0.997695 deg/s,
      cmd update: -2.993085 deg/s,
      cmd heading: 187.713787 deg,
      new cmd heading: 189.444817 deg.

2021-08-14T14:35:34.802Z,1628951734.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:35.093Z,1628951735.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:35.093Z,1628951735.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:35.093Z,1628951735.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:35.094Z,1628951735.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:35.509Z,1628951735.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,01634,186,80,80,82,FF
2021-08-14T14:35:35.509Z,1628951735.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:35.510Z,1628951735.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:35.511Z,1628951735.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:35.904Z,1628951735.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:36.745Z,1628951736.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,01603,185,80,80,6F,FF
2021-08-14T14:35:36.746Z,1628951736.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:36.756Z,1628951736.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143537.23*58

2021-08-14T14:35:37.148Z,1628951737.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.600006 m, bearing: 165.863166 deg, deltaT: 4.897794 s, approachRate: -0.600264 m/s, LOS rate: -1.229472 deg/s, posRepo size: 4
2021-08-14T14:35:37.150Z,1628951737.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.600006 m,
      bearing: 165.863166 deg,
      approachRate: -0.600264 m/s,
      LOS rate: -1.229472 deg/s,
      cmd update: -3.688416 deg/s,
      cmd heading: 173.021850 deg,
      new cmd heading: 172.133460 deg.

2021-08-14T14:35:39.566Z,1628951739.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:39.949Z,1628951739.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:39.949Z,1628951739.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:39.949Z,1628951739.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:39.950Z,1628951739.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:40.349Z,1628951740.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,01603,185,80,80,6F,FF
2021-08-14T14:35:40.349Z,1628951740.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:40.350Z,1628951740.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:40.351Z,1628951740.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:40.798Z,1628951740.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:41.565Z,1628951741.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,015CD,186,80,80,57,FF
2021-08-14T14:35:41.566Z,1628951741.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:42.101Z,1628951742.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.359985 m, bearing: 163.175828 deg, deltaT: 4.756132 s, approachRate: -0.681230 m/s, LOS rate: -0.565026 deg/s, posRepo size: 4
2021-08-14T14:35:42.103Z,1628951742.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.359985 m,
      bearing: 163.175828 deg,
      approachRate: -0.681230 m/s,
      LOS rate: -0.565026 deg/s,
      cmd update: -1.695078 deg/s,
      cmd heading: 155.479321 deg,
      new cmd heading: 153.660615 deg.

2021-08-14T14:35:44.411Z,1628951744.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:44.821Z,1628951744.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:44.821Z,1628951744.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:44.821Z,1628951744.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:44.822Z,1628951744.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:45.197Z,1628951745.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,015CD,186,80,80,57,FF
2021-08-14T14:35:45.197Z,1628951745.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:45.197Z,1628951745.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:45.199Z,1628951745.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:45.613Z,1628951745.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:46.433Z,1628951746.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAD,000,01599,184,80,80,7E,FF
2021-08-14T14:35:46.433Z,1628951746.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:46.436Z,1628951746.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143546.92*54

2021-08-14T14:35:46.900Z,1628951746.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.239990 m, bearing: 167.382405 deg, deltaT: 4.884601 s, approachRate: -0.638741 m/s, LOS rate: 0.861191 deg/s, posRepo size: 4
2021-08-14T14:35:46.902Z,1628951746.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.239990 m,
      bearing: 167.382405 deg,
      approachRate: -0.638741 m/s,
      LOS rate: 0.861191 deg/s,
      cmd update: 2.583575 deg/s,
      cmd heading: 147.206322 deg,
      new cmd heading: 146.508016 deg.

2021-08-14T14:35:49.258Z,1628951749.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:49.646Z,1628951749.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:49.646Z,1628951749.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:49.646Z,1628951749.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:49.647Z,1628951749.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:50.041Z,1628951750.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAD,000,01599,184,80,80,7E,FF
2021-08-14T14:35:50.041Z,1628951750.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:50.041Z,1628951750.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:50.043Z,1628951750.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:50.488Z,1628951750.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:51.289Z,1628951751.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,0156F,187,80,80,5D,FF
2021-08-14T14:35:51.289Z,1628951751.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:51.292Z,1628951751.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143551.76*58

2021-08-14T14:35:51.707Z,1628951751.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.719971 m, bearing: 164.811235 deg, deltaT: 4.816142 s, approachRate: -0.523244 m/s, LOS rate: -0.533865 deg/s, posRepo size: 4
2021-08-14T14:35:51.712Z,1628951751.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.719971 m,
      bearing: 164.811235 deg,
      approachRate: -0.523244 m/s,
      LOS rate: -0.533865 deg/s,
      cmd update: -1.601595 deg/s,
      cmd heading: 159.659242 deg,
      new cmd heading: 160.682024 deg.

2021-08-14T14:35:54.117Z,1628951754.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:54.500Z,1628951754.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:54.500Z,1628951754.500 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:54.500Z,1628951754.500 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:54.502Z,1628951754.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:54.912Z,1628951754.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,0156F,187,80,80,5D,FF
2021-08-14T14:35:54.913Z,1628951754.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:54.913Z,1628951754.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:54.915Z,1628951754.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:55.385Z,1628951755.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:35:56.185Z,1628951756.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,0152F,186,80,80,5E,FF
2021-08-14T14:35:56.185Z,1628951756.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:35:56.189Z,1628951756.189 [Micromodem](INFO): Nmea in: $SNTTA,0.194500,,,,143556.63*4C

2021-08-14T14:35:56.691Z,1628951756.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.880005 m, bearing: 167.919094 deg, deltaT: 4.896023 s, approachRate: -0.784303 m/s, LOS rate: 0.634772 deg/s, posRepo size: 4
2021-08-14T14:35:56.693Z,1628951756.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.880005 m,
      bearing: 167.919094 deg,
      approachRate: -0.784303 m/s,
      LOS rate: 0.634772 deg/s,
      cmd update: 1.904317 deg/s,
      cmd heading: 151.817689 deg,
      new cmd heading: 151.038879 deg.

2021-08-14T14:35:58.747Z,1628951758.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:35:59.013Z,1628951759.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:35:59.013Z,1628951759.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:35:59.014Z,1628951759.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:35:59.014Z,1628951759.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:35:59.417Z,1628951759.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,0152F,186,80,80,5E,FF
2021-08-14T14:35:59.417Z,1628951759.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:35:59.417Z,1628951759.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:35:59.419Z,1628951759.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:35:59.816Z,1628951759.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:00.661Z,1628951760.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F34,000,01500,186,80,80,76,FF
2021-08-14T14:36:00.661Z,1628951760.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:00.664Z,1628951760.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143601.14*5A

2021-08-14T14:36:01.086Z,1628951761.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.059998 m, bearing: 167.340646 deg, deltaT: 4.575273 s, approachRate: -0.616358 m/s, LOS rate: -0.126429 deg/s, posRepo size: 4
2021-08-14T14:36:01.089Z,1628951761.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.059998 m,
      bearing: 167.340646 deg,
      approachRate: -0.616358 m/s,
      LOS rate: -0.126429 deg/s,
      cmd update: -0.379288 deg/s,
      cmd heading: 160.522634 deg,
      new cmd heading: 161.114648 deg.

2021-08-14T14:36:03.479Z,1628951763.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:03.861Z,1628951763.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:03.861Z,1628951763.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:03.861Z,1628951763.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:03.862Z,1628951763.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:04.277Z,1628951764.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F34,000,01500,186,80,80,76,FF
2021-08-14T14:36:04.277Z,1628951764.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:04.277Z,1628951764.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:04.279Z,1628951764.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:04.668Z,1628951764.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:05.499Z,1628951765.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,014C7,187,80,80,65,FF
2021-08-14T14:36:05.499Z,1628951765.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:05.502Z,1628951765.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143606.00*58

2021-08-14T14:36:05.934Z,1628951765.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.639984 m, bearing: 168.830214 deg, deltaT: 4.746847 s, approachRate: -0.720481 m/s, LOS rate: 0.313802 deg/s, posRepo size: 4
2021-08-14T14:36:05.944Z,1628951765.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.639984 m,
      bearing: 168.830214 deg,
      approachRate: -0.720481 m/s,
      LOS rate: 0.313802 deg/s,
      cmd update: 0.941405 deg/s,
      cmd heading: 158.723886 deg,
      new cmd heading: 158.565987 deg.

2021-08-14T14:36:08.345Z,1628951768.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:08.702Z,1628951768.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:08.702Z,1628951768.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:08.703Z,1628951768.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:08.705Z,1628951768.705 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:09.111Z,1628951769.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,014C7,187,80,80,65,FF
2021-08-14T14:36:09.113Z,1628951769.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:09.113Z,1628951769.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:09.115Z,1628951769.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:09.523Z,1628951769.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:10.338Z,1628951770.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,0148F,186,80,80,7F,FF
2021-08-14T14:36:10.338Z,1628951770.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:10.341Z,1628951770.341 [Micromodem](INFO): Nmea in: $SNTTA,0.188069,,,,143610.83*44

2021-08-14T14:36:10.810Z,1628951770.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.279999 m, bearing: 169.287509 deg, deltaT: 4.878703 s, approachRate: -0.688705 m/s, LOS rate: 0.093733 deg/s, posRepo size: 4
2021-08-14T14:36:10.833Z,1628951770.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.279999 m,
      bearing: 169.287509 deg,
      approachRate: -0.688705 m/s,
      LOS rate: 0.093733 deg/s,
      cmd update: 0.281199 deg/s,
      cmd heading: 163.313330 deg,
      new cmd heading: 163.706372 deg.

2021-08-14T14:36:13.208Z,1628951773.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:13.553Z,1628951773.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:13.553Z,1628951773.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:13.553Z,1628951773.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:13.554Z,1628951773.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:13.961Z,1628951773.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,0148F,186,80,80,7F,FF
2021-08-14T14:36:13.962Z,1628951773.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:13.962Z,1628951773.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:13.965Z,1628951773.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:14.357Z,1628951774.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:15.201Z,1628951775.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,01462,185,80,80,53,FF
2021-08-14T14:36:15.201Z,1628951775.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:15.223Z,1628951775.223 [Micromodem](INFO): Nmea in: $SNTTA,0.186254,,,,143615.68*46

2021-08-14T14:36:15.650Z,1628951775.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.579987 m, bearing: 167.791097 deg, deltaT: 4.840544 s, approachRate: -0.557791 m/s, LOS rate: -0.309141 deg/s, posRepo size: 4
2021-08-14T14:36:15.655Z,1628951775.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.579987 m,
      bearing: 167.791097 deg,
      approachRate: -0.557791 m/s,
      LOS rate: -0.309141 deg/s,
      cmd update: -0.927424 deg/s,
      cmd heading: 164.677657 deg,
      new cmd heading: 164.791530 deg.

2021-08-14T14:36:18.087Z,1628951778.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:18.397Z,1628951778.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:18.397Z,1628951778.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:18.397Z,1628951778.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:18.398Z,1628951778.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:18.809Z,1628951778.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,01462,185,80,80,53,FF
2021-08-14T14:36:18.809Z,1628951778.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:18.809Z,1628951778.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:18.811Z,1628951778.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:19.213Z,1628951779.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:20.053Z,1628951780.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,0141F,184,80,80,74,FF
2021-08-14T14:36:20.053Z,1628951780.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:20.056Z,1628951780.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143620.53*5A

2021-08-14T14:36:20.465Z,1628951780.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.559998 m, bearing: 168.760792 deg, deltaT: 4.868912 s, approachRate: -0.825644 m/s, LOS rate: 0.199161 deg/s, posRepo size: 4
2021-08-14T14:36:20.471Z,1628951780.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.559998 m,
      bearing: 168.760792 deg,
      approachRate: -0.825644 m/s,
      LOS rate: 0.199161 deg/s,
      cmd update: 0.597482 deg/s,
      cmd heading: 160.165033 deg,
      new cmd heading: 159.837067 deg.

2021-08-14T14:36:22.929Z,1628951782.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:23.245Z,1628951783.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:23.245Z,1628951783.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:23.245Z,1628951783.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:23.246Z,1628951783.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:23.645Z,1628951783.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,0141F,184,80,80,74,FF
2021-08-14T14:36:23.645Z,1628951783.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:23.646Z,1628951783.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:23.647Z,1628951783.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:24.057Z,1628951784.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:24.869Z,1628951784.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,013EA,187,80,80,8E,FF
2021-08-14T14:36:24.870Z,1628951784.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:24.873Z,1628951784.873 [Micromodem](INFO): Nmea in: $SNTTA,0.397724,0.399568,,,143625.36*58

2021-08-14T14:36:25.320Z,1628951785.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.380005 m, bearing: 170.718529 deg, deltaT: 4.857359 s, approachRate: -0.654675 m/s, LOS rate: 0.403046 deg/s, posRepo size: 4
2021-08-14T14:36:25.324Z,1628951785.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.380005 m,
      bearing: 170.718529 deg,
      approachRate: -0.654675 m/s,
      LOS rate: 0.403046 deg/s,
      cmd update: 1.209137 deg/s,
      cmd heading: 163.067043 deg,
      new cmd heading: 163.276484 deg.

2021-08-14T14:36:27.747Z,1628951787.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:28.093Z,1628951788.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:28.093Z,1628951788.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:28.094Z,1628951788.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:28.095Z,1628951788.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:28.498Z,1628951788.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,013EA,187,80,80,8E,FF
2021-08-14T14:36:28.498Z,1628951788.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:28.498Z,1628951788.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:28.499Z,1628951788.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:28.904Z,1628951788.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:29.752Z,1628951789.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,013B1,184,80,80,83,FF
2021-08-14T14:36:29.754Z,1628951789.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:29.762Z,1628951789.762 [Micromodem](INFO): Nmea in: $SNTTA,0.179193,,,,143630.22*47

2021-08-14T14:36:30.154Z,1628951790.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.959991 m, bearing: 169.918714 deg, deltaT: 4.854556 s, approachRate: -0.704496 m/s, LOS rate: -0.164756 deg/s, posRepo size: 4
2021-08-14T14:36:30.156Z,1628951790.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.959991 m,
      bearing: 169.918714 deg,
      approachRate: -0.704496 m/s,
      LOS rate: -0.164756 deg/s,
      cmd update: -0.494267 deg/s,
      cmd heading: 168.937232 deg,
      new cmd heading: 169.338424 deg.

2021-08-14T14:36:32.618Z,1628951792.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:32.945Z,1628951792.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:32.945Z,1628951792.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:32.946Z,1628951792.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:32.946Z,1628951792.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:33.341Z,1628951793.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,013B1,184,80,80,83,FF
2021-08-14T14:36:33.341Z,1628951793.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:33.341Z,1628951793.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:33.343Z,1628951793.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:33.777Z,1628951793.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:34.604Z,1628951794.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,01378,182,80,80,93,FF
2021-08-14T14:36:34.605Z,1628951794.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:34.608Z,1628951794.608 [Micromodem](INFO): Nmea in: $SNTTA,0.176927,,,,143635.06*4C

2021-08-14T14:36:35.003Z,1628951795.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.539978 m, bearing: 170.041917 deg, deltaT: 4.820819 s, approachRate: -0.709426 m/s, LOS rate: 0.025556 deg/s, posRepo size: 4
2021-08-14T14:36:35.005Z,1628951795.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.539978 m,
      bearing: 170.041917 deg,
      approachRate: -0.709426 m/s,
      LOS rate: 0.025556 deg/s,
      cmd update: 0.076669 deg/s,
      cmd heading: 166.552771 deg,
      new cmd heading: 166.376529 deg.

2021-08-14T14:36:37.415Z,1628951797.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:37.801Z,1628951797.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:37.801Z,1628951797.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:37.801Z,1628951797.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:37.802Z,1628951797.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:38.189Z,1628951798.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,01378,182,80,80,93,FF
2021-08-14T14:36:38.189Z,1628951798.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:38.189Z,1628951798.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:38.191Z,1628951798.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:38.636Z,1628951798.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:39.429Z,1628951799.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,01341,183,80,80,8F,FF
2021-08-14T14:36:39.429Z,1628951799.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:39.433Z,1628951799.433 [Micromodem](INFO): Nmea in: $SNTTA,0.174701,,,,143639.91*46

2021-08-14T14:36:39.854Z,1628951799.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.239990 m, bearing: 170.287326 deg, deltaT: 4.846582 s, approachRate: -0.680890 m/s, LOS rate: 0.050635 deg/s, posRepo size: 4
2021-08-14T14:36:39.872Z,1628951799.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.239990 m,
      bearing: 170.287326 deg,
      approachRate: -0.680890 m/s,
      LOS rate: 0.050635 deg/s,
      cmd update: 0.151906 deg/s,
      cmd heading: 166.923680 deg,
      new cmd heading: 166.952018 deg.

2021-08-14T14:36:42.251Z,1628951802.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:42.646Z,1628951802.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:42.646Z,1628951802.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:42.646Z,1628951802.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:42.647Z,1628951802.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:43.033Z,1628951803.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,01341,183,80,80,8F,FF
2021-08-14T14:36:43.033Z,1628951803.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:43.034Z,1628951803.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:43.035Z,1628951803.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:43.452Z,1628951803.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:44.273Z,1628951804.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,01307,183,80,80,76,FF
2021-08-14T14:36:44.273Z,1628951804.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:44.300Z,1628951804.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143644.76*5F

2021-08-14T14:36:44.763Z,1628951804.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.759995 m, bearing: 170.973992 deg, deltaT: 4.829846 s, approachRate: -0.720519 m/s, LOS rate: 0.142171 deg/s, posRepo size: 4
2021-08-14T14:36:44.776Z,1628951804.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.759995 m,
      bearing: 170.973992 deg,
      approachRate: -0.720519 m/s,
      LOS rate: 0.142171 deg/s,
      cmd update: 0.426514 deg/s,
      cmd heading: 167.658802 deg,
      new cmd heading: 167.723263 deg.

2021-08-14T14:36:47.122Z,1628951807.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:47.481Z,1628951807.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:47.481Z,1628951807.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:47.481Z,1628951807.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:47.482Z,1628951807.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:47.893Z,1628951807.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,01307,183,80,80,76,FF
2021-08-14T14:36:47.893Z,1628951807.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:47.893Z,1628951807.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:47.895Z,1628951807.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:48.293Z,1628951808.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:49.141Z,1628951809.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,012D3,182,80,80,A5,FF
2021-08-14T14:36:49.141Z,1628951809.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:49.144Z,1628951809.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143649.62*57

2021-08-14T14:36:49.544Z,1628951809.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.639999 m, bearing: 170.305002 deg, deltaT: 4.856801 s, approachRate: -0.642397 m/s, LOS rate: -0.137743 deg/s, posRepo size: 4
2021-08-14T14:36:49.546Z,1628951809.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.639999 m,
      bearing: 170.305002 deg,
      approachRate: -0.642397 m/s,
      LOS rate: -0.137743 deg/s,
      cmd update: -0.413229 deg/s,
      cmd heading: 169.721341 deg,
      new cmd heading: 169.885218 deg.

2021-08-14T14:36:51.964Z,1628951811.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:52.329Z,1628951812.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:52.329Z,1628951812.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:52.329Z,1628951812.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:52.330Z,1628951812.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:52.749Z,1628951812.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,012D3,182,80,80,A5,FF
2021-08-14T14:36:52.750Z,1628951812.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:52.750Z,1628951812.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:52.757Z,1628951812.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:53.156Z,1628951813.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:53.947Z,1628951813.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,0129A,185,80,80,A1,FF
2021-08-14T14:36:53.948Z,1628951813.948 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:53.968Z,1628951813.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143654.48*53

2021-08-14T14:36:54.384Z,1628951814.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.219986 m, bearing: 169.675272 deg, deltaT: 4.834745 s, approachRate: -0.707382 m/s, LOS rate: -0.130251 deg/s, posRepo size: 4
2021-08-14T14:36:54.386Z,1628951814.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.219986 m,
      bearing: 169.675272 deg,
      approachRate: -0.707382 m/s,
      LOS rate: -0.130251 deg/s,
      cmd update: -0.390753 deg/s,
      cmd heading: 167.714808 deg,
      new cmd heading: 167.562649 deg.

2021-08-14T14:36:56.877Z,1628951816.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:36:57.177Z,1628951817.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:36:57.177Z,1628951817.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:36:57.178Z,1628951817.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:36:57.178Z,1628951817.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:36:57.577Z,1628951817.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,0129A,185,80,80,A1,FF
2021-08-14T14:36:57.577Z,1628951817.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:36:57.577Z,1628951817.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:36:57.579Z,1628951817.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:36:57.994Z,1628951817.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:36:58.821Z,1628951818.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,01262,183,80,80,A8,FF
2021-08-14T14:36:58.821Z,1628951818.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:36:58.824Z,1628951818.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143659.30*51

2021-08-14T14:36:59.238Z,1628951819.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.860001 m, bearing: 169.662896 deg, deltaT: 4.910064 s, approachRate: -0.684306 m/s, LOS rate: -0.002521 deg/s, posRepo size: 4
2021-08-14T14:36:59.240Z,1628951819.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.860001 m,
      bearing: 169.662896 deg,
      approachRate: -0.684306 m/s,
      LOS rate: -0.002521 deg/s,
      cmd update: -0.007562 deg/s,
      cmd heading: 165.799441 deg,
      new cmd heading: 165.674121 deg.

2021-08-14T14:37:01.643Z,1628951821.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:02.029Z,1628951822.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:02.029Z,1628951822.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:02.029Z,1628951822.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:02.030Z,1628951822.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:02.441Z,1628951822.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,01262,183,80,80,A8,FF
2021-08-14T14:37:02.441Z,1628951822.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:02.441Z,1628951822.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:02.443Z,1628951822.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:02.836Z,1628951822.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:03.653Z,1628951823.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,01228,183,80,80,A1,FF
2021-08-14T14:37:03.653Z,1628951823.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:03.656Z,1628951823.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143704.16*5C

2021-08-14T14:37:04.087Z,1628951824.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.379990 m, bearing: 170.100001 deg, deltaT: 4.746754 s, approachRate: -0.733135 m/s, LOS rate: 0.092085 deg/s, posRepo size: 4
2021-08-14T14:37:04.089Z,1628951824.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.379990 m,
      bearing: 170.100001 deg,
      approachRate: -0.733135 m/s,
      LOS rate: 0.092085 deg/s,
      cmd update: 0.276255 deg/s,
      cmd heading: 165.763488 deg,
      new cmd heading: 165.760349 deg.

2021-08-14T14:37:06.492Z,1628951826.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:06.869Z,1628951826.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:06.869Z,1628951826.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:06.869Z,1628951826.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:06.870Z,1628951826.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:07.273Z,1628951827.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,01228,183,80,80,A1,FF
2021-08-14T14:37:07.273Z,1628951827.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:07.273Z,1628951827.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:07.275Z,1628951827.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:07.681Z,1628951827.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:08.505Z,1628951828.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,011F3,183,80,80,B0,FF
2021-08-14T14:37:08.505Z,1628951828.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:08.508Z,1628951828.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143709.00*56

2021-08-14T14:37:08.963Z,1628951828.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.199982 m, bearing: 170.100452 deg, deltaT: 4.930151 s, approachRate: -0.645012 m/s, LOS rate: 0.000091 deg/s, posRepo size: 4
2021-08-14T14:37:08.970Z,1628951828.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.199982 m,
      bearing: 170.100452 deg,
      approachRate: -0.645012 m/s,
      LOS rate: 0.000091 deg/s,
      cmd update: 0.000274 deg/s,
      cmd heading: 167.120172 deg,
      new cmd heading: 167.225352 deg.

2021-08-14T14:37:11.347Z,1628951831.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:11.722Z,1628951831.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:11.722Z,1628951831.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:11.722Z,1628951831.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:11.723Z,1628951831.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:12.121Z,1628951832.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,011F3,183,80,80,B0,FF
2021-08-14T14:37:12.121Z,1628951832.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:12.121Z,1628951832.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:12.123Z,1628951832.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:12.529Z,1628951832.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:13.354Z,1628951833.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,011BD,182,80,80,A2,FF
2021-08-14T14:37:13.354Z,1628951833.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:13.357Z,1628951833.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143713.84*51

2021-08-14T14:37:13.807Z,1628951833.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.959991 m, bearing: 169.828433 deg, deltaT: 4.803618 s, approachRate: -0.674490 m/s, LOS rate: -0.056628 deg/s, posRepo size: 4
2021-08-14T14:37:13.809Z,1628951833.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.959991 m,
      bearing: 169.828433 deg,
      approachRate: -0.674490 m/s,
      LOS rate: -0.056628 deg/s,
      cmd update: -0.169884 deg/s,
      cmd heading: 167.121495 deg,
      new cmd heading: 167.121605 deg.

2021-08-14T14:37:16.194Z,1628951836.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:16.609Z,1628951836.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:16.609Z,1628951836.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:16.609Z,1628951836.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:16.610Z,1628951836.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:16.974Z,1628951836.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,011BD,182,80,80,A2,FF
2021-08-14T14:37:16.974Z,1628951836.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:16.974Z,1628951836.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:16.976Z,1628951836.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:17.381Z,1628951837.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:18.201Z,1628951838.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,01188,183,80,80,AE,FF
2021-08-14T14:37:18.202Z,1628951838.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:18.232Z,1628951838.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143718.69*59

2021-08-14T14:37:18.668Z,1628951838.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.779984 m, bearing: 170.263147 deg, deltaT: 4.857988 s, approachRate: -0.654594 m/s, LOS rate: 0.089484 deg/s, posRepo size: 4
2021-08-14T14:37:18.670Z,1628951838.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.779984 m,
      bearing: 170.263147 deg,
      approachRate: -0.654594 m/s,
      LOS rate: 0.089484 deg/s,
      cmd update: 0.268453 deg/s,
      cmd heading: 166.296885 deg,
      new cmd heading: 166.227573 deg.

2021-08-14T14:37:20.667Z,1628951840.667 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:37:21.055Z,1628951841.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:21.421Z,1628951841.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:21.421Z,1628951841.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:21.421Z,1628951841.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:21.422Z,1628951841.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:21.817Z,1628951841.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,01188,183,80,80,AE,FF
2021-08-14T14:37:21.817Z,1628951841.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:21.817Z,1628951841.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:21.819Z,1628951841.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:22.233Z,1628951842.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:23.061Z,1628951843.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,0114E,183,80,80,A0,FF
2021-08-14T14:37:23.061Z,1628951843.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:23.065Z,1628951843.065 [Micromodem](INFO): Nmea in: $SNTTA,,0.311236,,,143723.54*45

2021-08-14T14:37:23.471Z,1628951843.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.300003 m, bearing: 169.772316 deg, deltaT: 4.866912 s, approachRate: -0.715028 m/s, LOS rate: -0.100851 deg/s, posRepo size: 4
2021-08-14T14:37:23.474Z,1628951843.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.300003 m,
      bearing: 169.772316 deg,
      approachRate: -0.715028 m/s,
      LOS rate: -0.100851 deg/s,
      cmd update: -0.302552 deg/s,
      cmd heading: 167.603388 deg,
      new cmd heading: 167.695952 deg.

2021-08-14T14:37:25.909Z,1628951845.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:26.288Z,1628951846.288 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:26.289Z,1628951846.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:26.289Z,1628951846.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:26.290Z,1628951846.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:26.669Z,1628951846.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,0114E,183,80,80,A0,FF
2021-08-14T14:37:26.669Z,1628951846.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:26.669Z,1628951846.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:26.671Z,1628951846.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:27.091Z,1628951847.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:27.912Z,1628951847.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,01119,183,80,80,A1,FF
2021-08-14T14:37:27.913Z,1628951847.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:27.915Z,1628951847.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143728.39*5F

2021-08-14T14:37:28.316Z,1628951848.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.119995 m, bearing: 169.652965 deg, deltaT: 4.810619 s, approachRate: -0.661039 m/s, LOS rate: -0.024810 deg/s, posRepo size: 4
2021-08-14T14:37:28.318Z,1628951848.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.119995 m,
      bearing: 169.652965 deg,
      approachRate: -0.661039 m/s,
      LOS rate: -0.024810 deg/s,
      cmd update: -0.074430 deg/s,
      cmd heading: 166.146662 deg,
      new cmd heading: 166.033453 deg.

2021-08-14T14:37:30.722Z,1628951850.722 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T14:37:30.794Z,1628951850.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:31.117Z,1628951851.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:31.118Z,1628951851.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:31.118Z,1628951851.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:31.119Z,1628951851.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:31.517Z,1628951851.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,01119,183,80,80,A1,FF
2021-08-14T14:37:31.518Z,1628951851.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:31.518Z,1628951851.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:31.519Z,1628951851.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:31.943Z,1628951851.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:32.776Z,1628951852.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,010E3,182,80,80,B1,FF
2021-08-14T14:37:32.776Z,1628951852.776 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:32.779Z,1628951852.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143733.24*59

2021-08-14T14:37:33.164Z,1628951853.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.879990 m, bearing: 170.393767 deg, deltaT: 4.936552 s, approachRate: -0.656330 m/s, LOS rate: 0.150065 deg/s, posRepo size: 4
2021-08-14T14:37:33.166Z,1628951853.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.879990 m,
      bearing: 170.393767 deg,
      approachRate: -0.656330 m/s,
      LOS rate: 0.150065 deg/s,
      cmd update: 0.450194 deg/s,
      cmd heading: 165.779927 deg,
      new cmd heading: 165.757979 deg.

2021-08-14T14:37:35.595Z,1628951855.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:35.969Z,1628951855.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:35.969Z,1628951855.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:35.970Z,1628951855.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:35.971Z,1628951855.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:36.369Z,1628951856.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,010E3,182,80,80,B1,FF
2021-08-14T14:37:36.369Z,1628951856.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:36.369Z,1628951856.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:36.371Z,1628951856.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:36.811Z,1628951856.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:37.602Z,1628951857.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,010AD,185,80,80,71,FF
2021-08-14T14:37:37.602Z,1628951857.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:37.607Z,1628951857.607 [Micromodem](INFO): Nmea in: $SNTTA,0.145433,,,,143738.09*47

2021-08-14T14:37:38.022Z,1628951858.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.639999 m, bearing: 171.593053 deg, deltaT: 4.794654 s, approachRate: -0.675751 m/s, LOS rate: 0.250130 deg/s, posRepo size: 4
2021-08-14T14:37:38.024Z,1628951858.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.639999 m,
      bearing: 171.593053 deg,
      approachRate: -0.675751 m/s,
      LOS rate: 0.250130 deg/s,
      cmd update: 0.750389 deg/s,
      cmd heading: 167.935269 deg,
      new cmd heading: 168.100032 deg.

2021-08-14T14:37:40.451Z,1628951860.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:40.813Z,1628951860.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:40.813Z,1628951860.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:40.813Z,1628951860.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:40.814Z,1628951860.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:40.838Z,1628951860.838 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T14:37:41.209Z,1628951861.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,010AD,185,80,80,71,FF
2021-08-14T14:37:41.209Z,1628951861.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:41.209Z,1628951861.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:41.211Z,1628951861.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:41.617Z,1628951861.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:42.449Z,1628951862.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,01074,182,80,80,AE,FF
2021-08-14T14:37:42.450Z,1628951862.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:42.453Z,1628951862.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143742.93*53

2021-08-14T14:37:42.905Z,1628951862.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.219986 m, bearing: 170.747913 deg, deltaT: 4.806247 s, approachRate: -0.711577 m/s, LOS rate: -0.175842 deg/s, posRepo size: 4
2021-08-14T14:37:42.907Z,1628951862.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.219986 m,
      bearing: 170.747913 deg,
      approachRate: -0.711577 m/s,
      LOS rate: -0.175842 deg/s,
      cmd update: -0.527526 deg/s,
      cmd heading: 171.552369 deg,
      new cmd heading: 171.873683 deg.

2021-08-14T14:37:45.274Z,1628951865.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:45.664Z,1628951865.664 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:45.665Z,1628951865.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:45.665Z,1628951865.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:45.666Z,1628951865.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:46.061Z,1628951866.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,01074,182,80,80,AE,FF
2021-08-14T14:37:46.061Z,1628951866.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:46.061Z,1628951866.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:46.063Z,1628951866.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:46.465Z,1628951866.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:47.301Z,1628951867.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,01039,185,80,80,B7,FF
2021-08-14T14:37:47.301Z,1628951867.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:47.305Z,1628951867.305 [Micromodem](INFO): Nmea in: $SNTTA,0.144815,,,,143747.78*40

2021-08-14T14:37:47.761Z,1628951867.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.679977 m, bearing: 170.290235 deg, deltaT: 4.918920 s, approachRate: -0.719672 m/s, LOS rate: -0.093044 deg/s, posRepo size: 4
2021-08-14T14:37:47.769Z,1628951867.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.679977 m,
      bearing: 170.290235 deg,
      approachRate: -0.719672 m/s,
      LOS rate: -0.093044 deg/s,
      cmd update: -0.279133 deg/s,
      cmd heading: 168.962398 deg,
      new cmd heading: 168.771463 deg.

2021-08-14T14:37:50.145Z,1628951870.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:50.501Z,1628951870.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:50.501Z,1628951870.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:50.501Z,1628951870.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:50.502Z,1628951870.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:50.905Z,1628951870.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,01039,185,80,80,B7,FF
2021-08-14T14:37:50.905Z,1628951870.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:50.905Z,1628951870.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:50.907Z,1628951870.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:50.977Z,1628951870.977 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T14:37:51.316Z,1628951871.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:52.141Z,1628951872.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,017,000,01000,183,80,80,BA,FF
2021-08-14T14:37:52.141Z,1628951872.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:52.144Z,1628951872.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143752.63*5D

2021-08-14T14:37:52.611Z,1628951872.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.259979 m, bearing: 169.626450 deg, deltaT: 4.772086 s, approachRate: -0.716667 m/s, LOS rate: -0.139097 deg/s, posRepo size: 4
2021-08-14T14:37:52.614Z,1628951872.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.259979 m,
      bearing: 169.626450 deg,
      approachRate: -0.716667 m/s,
      LOS rate: -0.139097 deg/s,
      cmd update: -0.417292 deg/s,
      cmd heading: 167.627124 deg,
      new cmd heading: 167.503911 deg.

2021-08-14T14:37:52.979Z,1628951872.979 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:37:55.009Z,1628951875.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:37:55.353Z,1628951875.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:37:55.354Z,1628951875.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:37:55.354Z,1628951875.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:37:55.355Z,1628951875.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:37:55.777Z,1628951875.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
017,000,01000,183,80,80,BA,FF
2021-08-14T14:37:55.777Z,1628951875.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:37:55.777Z,1628951875.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:37:55.779Z,1628951875.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:37:56.169Z,1628951876.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:37:56.971Z,1628951876.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00FC6,183,80,80,AC,FF
2021-08-14T14:37:56.973Z,1628951876.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:37:56.980Z,1628951876.980 [Micromodem](INFO): Nmea in: $SNTTA,0.142615,,,,143757.50*43

2021-08-14T14:37:57.427Z,1628951877.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.779999 m, bearing: 169.357491 deg, deltaT: 4.864321 s, approachRate: -0.715409 m/s, LOS rate: -0.055292 deg/s, posRepo size: 4
2021-08-14T14:37:57.429Z,1628951877.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.779999 m,
      bearing: 169.357491 deg,
      approachRate: -0.715409 m/s,
      LOS rate: -0.055292 deg/s,
      cmd update: -0.165877 deg/s,
      cmd heading: 165.597282 deg,
      new cmd heading: 165.433473 deg.

2021-08-14T14:37:59.847Z,1628951879.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:00.205Z,1628951880.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:00.205Z,1628951880.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:00.205Z,1628951880.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:00.206Z,1628951880.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:00.657Z,1628951880.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00FC6,183,80,80,AC,FF
2021-08-14T14:38:00.657Z,1628951880.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:00.657Z,1628951880.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:00.659Z,1628951880.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:00.777Z,1628951880.777 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T14:38:01.041Z,1628951881.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:01.835Z,1628951881.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00F8F,183,80,80,C0,FF
2021-08-14T14:38:01.836Z,1628951881.836 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:01.851Z,1628951881.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143802.38*59

2021-08-14T14:38:02.267Z,1628951882.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.479980 m, bearing: 168.843984 deg, deltaT: 4.891347 s, approachRate: -0.674664 m/s, LOS rate: -0.104983 deg/s, posRepo size: 4
2021-08-14T14:38:02.270Z,1628951882.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.479980 m,
      bearing: 168.843984 deg,
      approachRate: -0.674664 m/s,
      LOS rate: -0.104983 deg/s,
      cmd update: -0.314948 deg/s,
      cmd heading: 164.787379 deg,
      new cmd heading: 164.729224 deg.

2021-08-14T14:38:04.721Z,1628951884.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:05.077Z,1628951885.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:05.077Z,1628951885.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:05.077Z,1628951885.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:05.078Z,1628951885.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:05.477Z,1628951885.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,00F8F,183,80,80,C0,FF
2021-08-14T14:38:05.477Z,1628951885.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:05.477Z,1628951885.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:05.479Z,1628951885.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:05.881Z,1628951885.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:06.718Z,1628951886.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00F55,184,80,80,A3,FF
2021-08-14T14:38:06.718Z,1628951886.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:06.729Z,1628951886.729 [Micromodem](INFO): Nmea in: $SNTTA,0.481155,0.481024,,,143807.20*52

2021-08-14T14:38:07.134Z,1628951887.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.000000 m, bearing: 169.083587 deg, deltaT: 4.925061 s, approachRate: -0.706586 m/s, LOS rate: 0.048650 deg/s, posRepo size: 4
2021-08-14T14:38:07.136Z,1628951887.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.000000 m,
      bearing: 169.083587 deg,
      approachRate: -0.706586 m/s,
      LOS rate: 0.048650 deg/s,
      cmd update: 0.145949 deg/s,
      cmd heading: 163.234203 deg,
      new cmd heading: 163.144158 deg.

2021-08-14T14:38:09.535Z,1628951889.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:09.913Z,1628951889.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:09.913Z,1628951889.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:09.913Z,1628951889.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:09.914Z,1628951889.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:10.325Z,1628951890.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00F55,184,80,80,A3,FF
2021-08-14T14:38:10.325Z,1628951890.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:10.325Z,1628951890.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:10.327Z,1628951890.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:10.764Z,1628951890.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:11.557Z,1628951891.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00F1D,185,80,80,BA,FF
2021-08-14T14:38:11.557Z,1628951891.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:11.561Z,1628951891.561 [Micromodem](INFO): Nmea in: $SNTTA,,0.016380,,,143812.05*44

2021-08-14T14:38:11.986Z,1628951891.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.639999 m, bearing: 169.104296 deg, deltaT: 4.725233 s, approachRate: -0.711076 m/s, LOS rate: 0.004383 deg/s, posRepo size: 4
2021-08-14T14:38:11.989Z,1628951891.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.639999 m,
      bearing: 169.104296 deg,
      approachRate: -0.711076 m/s,
      LOS rate: 0.004383 deg/s,
      cmd update: 0.013148 deg/s,
      cmd heading: 163.924184 deg,
      new cmd heading: 163.984086 deg.

2021-08-14T14:38:14.394Z,1628951894.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:14.796Z,1628951894.796 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:14.797Z,1628951894.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:14.797Z,1628951894.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:14.798Z,1628951894.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:15.165Z,1628951895.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00F1D,185,80,80,BA,FF
2021-08-14T14:38:15.165Z,1628951895.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:15.165Z,1628951895.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:15.167Z,1628951895.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:15.572Z,1628951895.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:15.998Z,1628951895.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00F1D,185,80,80,BA,FF
2021-08-14T14:38:15.998Z,1628951895.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:16.419Z,1628951896.419 [Micromodem](INFO): Nmea in: $SNTTA,0.129478,,,,143816.89*49

2021-08-14T14:38:16.443Z,1628951896.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.639999 m, bearing: 169.647405 deg, deltaT: 4.507877 s, approachRate: 0.000000 m/s, LOS rate: 0.120480 deg/s, posRepo size: 4
2021-08-14T14:38:16.446Z,1628951896.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.639999 m,
      bearing: 169.647405 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.120480 deg/s,
      cmd update: 0.361440 deg/s,
      cmd heading: 163.983453 deg,
      new cmd heading: 163.988183 deg.

2021-08-14T14:38:18.862Z,1628951898.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:19.205Z,1628951899.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:19.205Z,1628951899.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:19.205Z,1628951899.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:19.206Z,1628951899.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:19.617Z,1628951899.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00F1D,185,80,80,BA,FF
2021-08-14T14:38:19.617Z,1628951899.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:19.617Z,1628951899.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:19.619Z,1628951899.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:20.022Z,1628951900.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:20.849Z,1628951900.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:20.850Z,1628951900.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:20.853Z,1628951900.853 [Micromodem](INFO): Nmea in: $SNTTA,0.127870,,,,143821.34*41

2021-08-14T14:38:21.270Z,1628951901.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.979980 m, bearing: 170.501575 deg, deltaT: 4.858532 s, approachRate: -1.370788 m/s, LOS rate: 0.175808 deg/s, posRepo size: 4
2021-08-14T14:38:21.272Z,1628951901.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.979980 m,
      bearing: 170.501575 deg,
      approachRate: -1.370788 m/s,
      LOS rate: 0.175808 deg/s,
      cmd update: 0.527425 deg/s,
      cmd heading: 165.735224 deg,
      new cmd heading: 165.858085 deg.

2021-08-14T14:38:23.666Z,1628951903.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:24.059Z,1628951904.059 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:24.059Z,1628951904.059 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:24.059Z,1628951904.059 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:24.060Z,1628951904.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:24.457Z,1628951904.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:24.457Z,1628951904.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:24.457Z,1628951904.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:24.459Z,1628951904.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:24.865Z,1628951904.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:25.277Z,1628951905.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:25.277Z,1628951905.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:25.718Z,1628951905.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143826.18*5D

2021-08-14T14:38:25.793Z,1628951905.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.979980 m, bearing: 170.931044 deg, deltaT: 4.410030 s, approachRate: 0.000000 m/s, LOS rate: 0.097385 deg/s, posRepo size: 4
2021-08-14T14:38:25.795Z,1628951905.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.979980 m,
      bearing: 170.931044 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.097385 deg/s,
      cmd update: 0.292154 deg/s,
      cmd heading: 168.067128 deg,
      new cmd heading: 168.293413 deg.

2021-08-14T14:38:28.130Z,1628951908.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:28.493Z,1628951908.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:28.493Z,1628951908.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:28.493Z,1628951908.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:28.494Z,1628951908.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:28.898Z,1628951908.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:28.898Z,1628951908.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:28.898Z,1628951908.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:28.900Z,1628951908.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:29.314Z,1628951909.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:29.710Z,1628951909.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:29.711Z,1628951909.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:30.157Z,1628951910.157 [Micromodem](INFO): Nmea in: $SNTTA,0.123552,,,,143830.62*4B

2021-08-14T14:38:30.183Z,1628951910.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.979980 m, bearing: 171.324872 deg, deltaT: 4.440367 s, approachRate: 0.000000 m/s, LOS rate: 0.088693 deg/s, posRepo size: 4
2021-08-14T14:38:30.185Z,1628951910.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.979980 m,
      bearing: 171.324872 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.088693 deg/s,
      cmd update: 0.266078 deg/s,
      cmd heading: 169.362178 deg,
      new cmd heading: 169.478557 deg.

2021-08-14T14:38:32.616Z,1628951912.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:32.949Z,1628951912.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:32.949Z,1628951912.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:32.949Z,1628951912.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:32.950Z,1628951912.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:33.345Z,1628951913.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:33.345Z,1628951913.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:33.345Z,1628951913.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:33.347Z,1628951913.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:33.780Z,1628951913.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:34.157Z,1628951914.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:34.158Z,1628951914.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:34.637Z,1628951914.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143835.07*51

2021-08-14T14:38:34.694Z,1628951914.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.979980 m, bearing: 171.921940 deg, deltaT: 4.406976 s, approachRate: 0.000000 m/s, LOS rate: 0.135482 deg/s, posRepo size: 4
2021-08-14T14:38:34.698Z,1628951914.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.979980 m,
      bearing: 171.921940 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.135482 deg/s,
      cmd update: 0.406447 deg/s,
      cmd heading: 170.531502 deg,
      new cmd heading: 170.668612 deg.

2021-08-14T14:38:37.033Z,1628951917.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:37.393Z,1628951917.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:37.393Z,1628951917.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:37.393Z,1628951917.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:37.394Z,1628951917.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:37.805Z,1628951917.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00EAE,184,80,80,B1,FF
2021-08-14T14:38:37.805Z,1628951917.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:37.805Z,1628951917.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:37.807Z,1628951917.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:38.205Z,1628951918.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:38.650Z,1628951918.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00DDB,183,80,80,AC,FF
2021-08-14T14:38:38.650Z,1628951918.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:39.049Z,1628951919.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143839.53*5C

2021-08-14T14:38:39.095Z,1628951919.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.320007 m, bearing: 171.077046 deg, deltaT: 4.541495 s, approachRate: -2.787622 m/s, LOS rate: -0.186039 deg/s, posRepo size: 4
2021-08-14T14:38:39.098Z,1628951919.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.320007 m,
      bearing: 171.077046 deg,
      approachRate: -2.787622 m/s,
      LOS rate: -0.186039 deg/s,
      cmd update: -0.558116 deg/s,
      cmd heading: 172.365806 deg,
      new cmd heading: 172.529757 deg.

2021-08-14T14:38:41.451Z,1628951921.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:41.841Z,1628951921.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:41.841Z,1628951921.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:41.841Z,1628951921.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:41.842Z,1628951921.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:42.253Z,1628951922.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00DDB,183,80,80,AC,FF
2021-08-14T14:38:42.253Z,1628951922.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:42.253Z,1628951922.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:42.255Z,1628951922.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:42.653Z,1628951922.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:43.050Z,1628951923.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00DDB,183,80,80,AC,FF
2021-08-14T14:38:43.050Z,1628951923.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:43.490Z,1628951923.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143843.98*56

2021-08-14T14:38:43.506Z,1628951923.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.320007 m, bearing: 172.078789 deg, deltaT: 4.387968 s, approachRate: 0.000000 m/s, LOS rate: 0.228293 deg/s, posRepo size: 4
2021-08-14T14:38:43.507Z,1628951923.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.320007 m,
      bearing: 172.078789 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.228293 deg/s,
      cmd update: 0.684879 deg/s,
      cmd heading: 169.894001 deg,
      new cmd heading: 169.679341 deg.

2021-08-14T14:38:46.004Z,1628951926.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:46.281Z,1628951926.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:46.281Z,1628951926.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:46.282Z,1628951926.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:46.283Z,1628951926.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:46.717Z,1628951926.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00DDB,183,80,80,AC,FF
2021-08-14T14:38:46.717Z,1628951926.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:46.717Z,1628951926.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:46.724Z,1628951926.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:47.101Z,1628951927.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:47.903Z,1628951927.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,017,000,00D6F,183,80,80,B6,FF
2021-08-14T14:38:47.905Z,1628951927.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:47.911Z,1628951927.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143848.45*5D

2021-08-14T14:38:48.363Z,1628951928.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 171.404362 deg, deltaT: 4.878110 s, approachRate: -1.328386 m/s, LOS rate: -0.138256 deg/s, posRepo size: 4
2021-08-14T14:38:48.365Z,1628951928.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.839996 m,
      bearing: 171.404362 deg,
      approachRate: -1.328386 m/s,
      LOS rate: -0.138256 deg/s,
      cmd update: -0.414767 deg/s,
      cmd heading: 173.240444 deg,
      new cmd heading: 173.483895 deg.

2021-08-14T14:38:50.823Z,1628951930.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:51.129Z,1628951931.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:51.129Z,1628951931.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:51.129Z,1628951931.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:51.130Z,1628951931.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:51.545Z,1628951931.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
017,000,00D6F,183,80,80,B6,FF
2021-08-14T14:38:51.545Z,1628951931.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:51.546Z,1628951931.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:51.547Z,1628951931.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:51.949Z,1628951931.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:52.362Z,1628951932.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00D39,184,80,80,B6,FF
2021-08-14T14:38:52.362Z,1628951932.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:52.801Z,1628951932.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143853.27*53

2021-08-14T14:38:52.859Z,1628951932.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.599991 m, bearing: 170.711399 deg, deltaT: 4.376213 s, approachRate: -0.740367 m/s, LOS rate: -0.158348 deg/s, posRepo size: 4
2021-08-14T14:38:52.861Z,1628951932.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.599991 m,
      bearing: 170.711399 deg,
      approachRate: -0.740367 m/s,
      LOS rate: -0.158348 deg/s,
      cmd update: -0.475043 deg/s,
      cmd heading: 171.425480 deg,
      new cmd heading: 171.228161 deg.

2021-08-14T14:38:54.892Z,1628951934.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:55.169Z,1628951935.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:55.169Z,1628951935.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:55.169Z,1628951935.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:55.170Z,1628951935.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:38:55.586Z,1628951935.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00D39,184,80,80,B6,FF
2021-08-14T14:38:55.586Z,1628951935.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:38:55.586Z,1628951935.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:38:55.589Z,1628951935.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:38:55.985Z,1628951935.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:38:56.389Z,1628951936.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00D39,184,80,80,B6,FF
2021-08-14T14:38:56.390Z,1628951936.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:38:56.833Z,1628951936.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143857.31*50

2021-08-14T14:38:56.879Z,1628951936.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.599991 m, bearing: 171.582275 deg, deltaT: 4.057766 s, approachRate: 0.000000 m/s, LOS rate: 0.214620 deg/s, posRepo size: 4
2021-08-14T14:38:56.907Z,1628951936.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.599991 m,
      bearing: 171.582275 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.214620 deg/s,
      cmd update: 0.643859 deg/s,
      cmd heading: 169.499662 deg,
      new cmd heading: 169.289570 deg.

2021-08-14T14:38:59.266Z,1628951939.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:38:59.614Z,1628951939.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:38:59.614Z,1628951939.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:38:59.614Z,1628951939.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:38:59.615Z,1628951939.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:00.017Z,1628951940.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00D39,184,80,80,B6,FF
2021-08-14T14:39:00.017Z,1628951940.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:00.018Z,1628951940.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:00.019Z,1628951940.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:00.429Z,1628951940.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:00.838Z,1628951940.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00CD4,183,80,80,A6,FF
2021-08-14T14:39:00.838Z,1628951940.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:00.842Z,1628951940.842 [Micromodem](INFO): Nmea in: $SNTTA,0.208728,0.208528,,,143901.74*51

2021-08-14T14:39:01.283Z,1628951941.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.539993 m, bearing: 172.057438 deg, deltaT: 4.483040 s, approachRate: -1.351761 m/s, LOS rate: 0.105991 deg/s, posRepo size: 4
2021-08-14T14:39:01.285Z,1628951941.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.539993 m,
      bearing: 172.057438 deg,
      approachRate: -1.351761 m/s,
      LOS rate: 0.105991 deg/s,
      cmd update: 0.317973 deg/s,
      cmd heading: 172.388800 deg,
      new cmd heading: 172.619686 deg.

2021-08-14T14:39:03.717Z,1628951943.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:04.065Z,1628951944.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:04.065Z,1628951944.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:04.065Z,1628951944.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:04.066Z,1628951944.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:04.467Z,1628951944.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00CD4,183,80,80,A6,FF
2021-08-14T14:39:04.468Z,1628951944.468 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:04.468Z,1628951944.468 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:04.470Z,1628951944.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:04.864Z,1628951944.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:05.275Z,1628951945.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00C9F,184,80,80,A6,FF
2021-08-14T14:39:05.277Z,1628951945.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:05.765Z,1628951945.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143906.19*5F

2021-08-14T14:39:05.804Z,1628951945.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.360016 m, bearing: 171.192599 deg, deltaT: 4.414748 s, approachRate: -0.720308 m/s, LOS rate: -0.195898 deg/s, posRepo size: 4
2021-08-14T14:39:05.806Z,1628951945.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.360016 m,
      bearing: 171.192599 deg,
      approachRate: -0.720308 m/s,
      LOS rate: -0.195898 deg/s,
      cmd update: -0.587693 deg/s,
      cmd heading: 173.789403 deg,
      new cmd heading: 173.940384 deg.

2021-08-14T14:39:08.149Z,1628951948.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:08.501Z,1628951948.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:08.501Z,1628951948.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:08.501Z,1628951948.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:08.502Z,1628951948.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:08.920Z,1628951948.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00C9F,184,80,80,A6,FF
2021-08-14T14:39:08.920Z,1628951948.920 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:08.921Z,1628951948.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:08.922Z,1628951948.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:09.313Z,1628951949.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:09.738Z,1628951949.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00C6A,184,80,80,9F,FF
2021-08-14T14:39:09.739Z,1628951949.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:10.153Z,1628951950.153 [Micromodem](INFO): Nmea in: $SNTTA,0.101816,,,,143910.65*42

2021-08-14T14:39:10.212Z,1628951950.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.180008 m, bearing: 171.294956 deg, deltaT: 4.467815 s, approachRate: -0.711759 m/s, LOS rate: 0.022910 deg/s, posRepo size: 4
2021-08-14T14:39:10.214Z,1628951950.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.180008 m,
      bearing: 171.294956 deg,
      approachRate: -0.711759 m/s,
      LOS rate: 0.022910 deg/s,
      cmd update: 0.068730 deg/s,
      cmd heading: 171.157859 deg,
      new cmd heading: 170.922598 deg.

2021-08-14T14:39:12.638Z,1628951952.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:12.953Z,1628951952.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:12.953Z,1628951952.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:12.953Z,1628951952.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:12.954Z,1628951952.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:13.349Z,1628951953.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00C6A,184,80,80,9F,FF
2021-08-14T14:39:13.349Z,1628951953.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:13.349Z,1628951953.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:13.351Z,1628951953.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:13.801Z,1628951953.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:14.162Z,1628951954.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00C36,185,80,80,A2,FF
2021-08-14T14:39:14.162Z,1628951954.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:14.617Z,1628951954.617 [Micromodem](INFO): Nmea in: $SNTTA,0.099774,,,,143915.07*48

2021-08-14T14:39:14.687Z,1628951954.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.059998 m, bearing: 172.334921 deg, deltaT: 4.417510 s, approachRate: -0.706283 m/s, LOS rate: 0.235419 deg/s, posRepo size: 4
2021-08-14T14:39:14.694Z,1628951954.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.059998 m,
      bearing: 172.334921 deg,
      approachRate: -0.706283 m/s,
      LOS rate: 0.235419 deg/s,
      cmd update: 0.706256 deg/s,
      cmd heading: 171.460604 deg,
      new cmd heading: 171.493295 deg.

2021-08-14T14:39:16.768Z,1628951956.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:16.985Z,1628951956.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:16.985Z,1628951956.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:16.985Z,1628951956.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:16.986Z,1628951956.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:17.389Z,1628951957.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00C36,185,80,80,A2,FF
2021-08-14T14:39:17.389Z,1628951957.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:17.389Z,1628951957.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:17.391Z,1628951957.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:17.826Z,1628951957.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:18.219Z,1628951958.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00C08,184,80,80,AF,FF
2021-08-14T14:39:18.221Z,1628951958.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:18.649Z,1628951958.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143919.11*59

2021-08-14T14:39:18.719Z,1628951958.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.300003 m, bearing: 171.600621 deg, deltaT: 4.013959 s, approachRate: -0.687599 m/s, LOS rate: -0.182937 deg/s, posRepo size: 4
2021-08-14T14:39:18.761Z,1628951958.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.300003 m,
      bearing: 171.600621 deg,
      approachRate: -0.687599 m/s,
      LOS rate: -0.182937 deg/s,
      cmd update: -0.548810 deg/s,
      cmd heading: 174.304476 deg,
      new cmd heading: 174.639048 deg.

2021-08-14T14:39:20.867Z,1628951960.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:21.057Z,1628951961.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:21.057Z,1628951961.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:21.057Z,1628951961.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:21.058Z,1628951961.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:21.457Z,1628951961.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,00C08,184,80,80,AF,FF
2021-08-14T14:39:21.457Z,1628951961.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:21.457Z,1628951961.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:21.459Z,1628951961.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:21.865Z,1628951961.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:22.269Z,1628951962.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00BDA,184,80,80,AD,FF
2021-08-14T14:39:22.269Z,1628951962.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:22.702Z,1628951962.702 [Micromodem](INFO): Nmea in: $SNTTA,,0.490453,,,143923.18*48

2021-08-14T14:39:22.816Z,1628951962.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.539993 m, bearing: 171.391699 deg, deltaT: 4.097054 s, approachRate: -0.673657 m/s, LOS rate: -0.050993 deg/s, posRepo size: 4
2021-08-14T14:39:22.818Z,1628951962.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.539993 m,
      bearing: 171.391699 deg,
      approachRate: -0.673657 m/s,
      LOS rate: -0.050993 deg/s,
      cmd update: -0.152980 deg/s,
      cmd heading: 172.057638 deg,
      new cmd heading: 171.792400 deg.

2021-08-14T14:39:24.841Z,1628951964.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:25.085Z,1628951965.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:25.085Z,1628951965.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:25.085Z,1628951965.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:25.086Z,1628951965.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:25.489Z,1628951965.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00BDA,184,80,80,AD,FF
2021-08-14T14:39:25.489Z,1628951965.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:25.489Z,1628951965.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:25.491Z,1628951965.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:25.896Z,1628951965.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:26.301Z,1628951966.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00BA7,184,80,80,B2,FF
2021-08-14T14:39:26.302Z,1628951966.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:26.763Z,1628951966.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143927.21*57

2021-08-14T14:39:26.836Z,1628951966.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.479996 m, bearing: 171.099299 deg, deltaT: 3.983687 s, approachRate: -0.768132 m/s, LOS rate: -0.073399 deg/s, posRepo size: 4
2021-08-14T14:39:26.838Z,1628951966.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.479996 m,
      bearing: 171.099299 deg,
      approachRate: -0.768132 m/s,
      LOS rate: -0.073399 deg/s,
      cmd update: -0.220198 deg/s,
      cmd heading: 171.447757 deg,
      new cmd heading: 171.368723 deg.

2021-08-14T14:39:28.826Z,1628951968.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:29.129Z,1628951969.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:29.129Z,1628951969.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:29.129Z,1628951969.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:29.130Z,1628951969.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:29.535Z,1628951969.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00BA7,184,80,80,B2,FF
2021-08-14T14:39:29.535Z,1628951969.535 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:29.535Z,1628951969.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:29.537Z,1628951969.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:29.941Z,1628951969.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:30.349Z,1628951970.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00B79,184,80,80,B7,FF
2021-08-14T14:39:30.350Z,1628951970.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:30.813Z,1628951970.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143931.26*57

2021-08-14T14:39:30.888Z,1628951970.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.720001 m, bearing: 171.502498 deg, deltaT: 4.048128 s, approachRate: -0.681795 m/s, LOS rate: 0.099602 deg/s, posRepo size: 4
2021-08-14T14:39:30.890Z,1628951970.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.720001 m,
      bearing: 171.502498 deg,
      approachRate: -0.681795 m/s,
      LOS rate: 0.099602 deg/s,
      cmd update: 0.298805 deg/s,
      cmd heading: 170.556373 deg,
      new cmd heading: 170.445136 deg.

2021-08-14T14:39:33.194Z,1628951973.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:33.569Z,1628951973.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:33.569Z,1628951973.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:33.569Z,1628951973.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:33.570Z,1628951973.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:33.977Z,1628951973.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00B79,184,80,80,B7,FF
2021-08-14T14:39:33.977Z,1628951973.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:33.977Z,1628951973.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:33.979Z,1628951973.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:34.387Z,1628951974.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:34.805Z,1628951974.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00B44,185,80,80,B3,FF
2021-08-14T14:39:34.806Z,1628951974.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:35.229Z,1628951975.229 [Micromodem](INFO): Nmea in: $SNTTA,0.092883,,,,143935.70*46

2021-08-14T14:39:35.267Z,1628951975.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.540009 m, bearing: 171.638542 deg, deltaT: 4.534341 s, approachRate: -0.701313 m/s, LOS rate: 0.030003 deg/s, posRepo size: 4
2021-08-14T14:39:35.270Z,1628951975.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.540009 m,
      bearing: 171.638542 deg,
      approachRate: -0.701313 m/s,
      LOS rate: 0.030003 deg/s,
      cmd update: 0.090009 deg/s,
      cmd heading: 171.910043 deg,
      new cmd heading: 172.020605 deg.

2021-08-14T14:39:37.627Z,1628951977.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:38.021Z,1628951978.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:38.021Z,1628951978.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:38.021Z,1628951978.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:38.022Z,1628951978.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:38.422Z,1628951978.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00B44,185,80,80,B3,FF
2021-08-14T14:39:38.422Z,1628951978.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:38.422Z,1628951978.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:38.424Z,1628951978.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:38.832Z,1628951978.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:39.237Z,1628951979.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00B11,184,80,80,AD,FF
2021-08-14T14:39:39.238Z,1628951979.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:39.665Z,1628951979.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143940.15*51

2021-08-14T14:39:39.699Z,1628951979.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.479996 m, bearing: 171.294382 deg, deltaT: 4.353012 s, approachRate: -0.702964 m/s, LOS rate: -0.079062 deg/s, posRepo size: 4
2021-08-14T14:39:39.703Z,1628951979.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.479996 m,
      bearing: 171.294382 deg,
      approachRate: -0.702964 m/s,
      LOS rate: -0.079062 deg/s,
      cmd update: -0.237187 deg/s,
      cmd heading: 172.302224 deg,
      new cmd heading: 172.342172 deg.

2021-08-14T14:39:42.081Z,1628951982.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:42.465Z,1628951982.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:42.465Z,1628951982.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:42.466Z,1628951982.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:42.466Z,1628951982.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:42.861Z,1628951982.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00B11,184,80,80,AD,FF
2021-08-14T14:39:42.861Z,1628951982.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:42.861Z,1628951982.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:42.863Z,1628951982.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:43.265Z,1628951983.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:43.681Z,1628951983.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00ADB,185,80,80,A9,FF
2021-08-14T14:39:43.681Z,1628951983.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:44.105Z,1628951984.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143944.58*5C

2021-08-14T14:39:44.151Z,1628951984.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.240005 m, bearing: 171.914536 deg, deltaT: 4.494353 s, approachRate: -0.720903 m/s, LOS rate: 0.137985 deg/s, posRepo size: 4
2021-08-14T14:39:44.157Z,1628951984.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.240005 m,
      bearing: 171.914536 deg,
      approachRate: -0.720903 m/s,
      LOS rate: 0.137985 deg/s,
      cmd update: 0.413955 deg/s,
      cmd heading: 171.247648 deg,
      new cmd heading: 171.140885 deg.

2021-08-14T14:39:46.595Z,1628951986.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:46.909Z,1628951986.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:46.909Z,1628951986.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:46.909Z,1628951986.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:46.910Z,1628951986.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:47.311Z,1628951987.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00ADB,185,80,80,A9,FF
2021-08-14T14:39:47.311Z,1628951987.311 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:47.311Z,1628951987.311 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:47.313Z,1628951987.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:47.717Z,1628951987.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:48.121Z,1628951988.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00AA7,184,80,80,AA,FF
2021-08-14T14:39:48.121Z,1628951988.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:48.590Z,1628951988.590 [Micromodem](INFO): Nmea in: $SNTTA,0.088853,,,,143949.03*4F

2021-08-14T14:39:48.649Z,1628951988.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.120003 m, bearing: 170.957395 deg, deltaT: 4.442536 s, approachRate: -0.702302 m/s, LOS rate: -0.215449 deg/s, posRepo size: 4
2021-08-14T14:39:48.651Z,1628951988.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.120003 m,
      bearing: 170.957395 deg,
      approachRate: -0.702302 m/s,
      LOS rate: -0.215449 deg/s,
      cmd update: -0.646348 deg/s,
      cmd heading: 173.100328 deg,
      new cmd heading: 173.294276 deg.

2021-08-14T14:39:51.016Z,1628951991.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:51.354Z,1628951991.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:51.354Z,1628951991.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:51.354Z,1628951991.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:51.355Z,1628951991.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:51.782Z,1628951991.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00AA7,184,80,80,AA,FF
2021-08-14T14:39:51.782Z,1628951991.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:51.782Z,1628951991.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:51.784Z,1628951991.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:52.157Z,1628951992.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:52.593Z,1628951992.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00A77,184,80,80,AC,FF
2021-08-14T14:39:52.595Z,1628951992.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:52.599Z,1628951992.599 [Micromodem](INFO): Nmea in: $SNTTA,0.081884,0.288806,,,143953.50*53

2021-08-14T14:39:53.010Z,1628951993.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.240005 m, bearing: 171.456914 deg, deltaT: 4.470989 s, approachRate: -0.644152 m/s, LOS rate: 0.111725 deg/s, posRepo size: 4
2021-08-14T14:39:53.012Z,1628951993.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.240005 m,
      bearing: 171.456914 deg,
      approachRate: -0.644152 m/s,
      LOS rate: 0.111725 deg/s,
      cmd update: 0.335174 deg/s,
      cmd heading: 170.200708 deg,
      new cmd heading: 169.975931 deg.

2021-08-14T14:39:55.414Z,1628951995.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:39:55.817Z,1628951995.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:39:55.817Z,1628951995.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:39:55.817Z,1628951995.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:39:55.818Z,1628951995.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:39:56.205Z,1628951996.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00A77,184,80,80,AC,FF
2021-08-14T14:39:56.205Z,1628951996.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:39:56.205Z,1628951996.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:39:56.207Z,1628951996.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:39:56.637Z,1628951996.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:39:57.021Z,1628951997.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00A3F,185,80,80,AD,FF
2021-08-14T14:39:57.022Z,1628951997.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:39:57.449Z,1628951997.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143957.93*59

2021-08-14T14:39:57.468Z,1628951997.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.880005 m, bearing: 171.517088 deg, deltaT: 4.438187 s, approachRate: -0.757066 m/s, LOS rate: 0.013558 deg/s, posRepo size: 4
2021-08-14T14:39:57.470Z,1628951997.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.880005 m,
      bearing: 171.517088 deg,
      approachRate: -0.757066 m/s,
      LOS rate: 0.013558 deg/s,
      cmd update: 0.040675 deg/s,
      cmd heading: 171.685524 deg,
      new cmd heading: 171.811353 deg.

2021-08-14T14:39:59.869Z,1628951999.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:00.229Z,1628952000.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:00.229Z,1628952000.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:00.230Z,1628952000.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:00.231Z,1628952000.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:00.637Z,1628952000.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00A3F,185,80,80,AD,FF
2021-08-14T14:40:00.638Z,1628952000.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:00.638Z,1628952000.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:00.639Z,1628952000.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:00.839Z,1628952000.839 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:40:01.049Z,1628952001.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:01.457Z,1628952001.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00A0F,183,80,80,A7,FF
2021-08-14T14:40:01.458Z,1628952001.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:01.901Z,1628952001.901 [Micromodem](INFO): Nmea in: $SNTTA,0.077766,,,,144002.36*41

2021-08-14T14:40:01.944Z,1628952001.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.000000 m, bearing: 171.636712 deg, deltaT: 4.373768 s, approachRate: -0.658472 m/s, LOS rate: 0.027350 deg/s, posRepo size: 4
2021-08-14T14:40:01.946Z,1628952001.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.000000 m,
      bearing: 171.636712 deg,
      approachRate: -0.658472 m/s,
      LOS rate: 0.027350 deg/s,
      cmd update: 0.082051 deg/s,
      cmd heading: 171.863759 deg,
      new cmd heading: 171.882868 deg.

2021-08-14T14:40:04.303Z,1628952004.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:04.693Z,1628952004.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:04.693Z,1628952004.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:04.693Z,1628952004.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:04.694Z,1628952004.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:05.089Z,1628952005.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00A0F,183,80,80,A7,FF
2021-08-14T14:40:05.089Z,1628952005.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:05.089Z,1628952005.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:05.091Z,1628952005.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:05.501Z,1628952005.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:05.909Z,1628952005.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,009D8,184,80,80,A8,FF
2021-08-14T14:40:05.910Z,1628952005.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:06.337Z,1628952006.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144006.81*50

2021-08-14T14:40:06.371Z,1628952006.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 171.284766 deg, deltaT: 4.513882 s, approachRate: -0.731077 m/s, LOS rate: -0.077970 deg/s, posRepo size: 4
2021-08-14T14:40:06.374Z,1628952006.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 171.284766 deg,
      approachRate: -0.731077 m/s,
      LOS rate: -0.077970 deg/s,
      cmd update: -0.233909 deg/s,
      cmd heading: 172.233778 deg,
      new cmd heading: 172.265569 deg.

2021-08-14T14:40:08.823Z,1628952008.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:09.129Z,1628952009.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:09.129Z,1628952009.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:09.129Z,1628952009.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:09.130Z,1628952009.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:09.533Z,1628952009.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,009D8,184,80,80,A8,FF
2021-08-14T14:40:09.533Z,1628952009.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:09.533Z,1628952009.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:09.535Z,1628952009.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:09.964Z,1628952009.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:10.345Z,1628952010.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,009A3,184,80,80,B1,FF
2021-08-14T14:40:10.346Z,1628952010.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:10.829Z,1628952010.829 [Micromodem](INFO): Nmea in: $SNTTA,0.412402,0.412858,,,144011.26*58

2021-08-14T14:40:10.871Z,1628952010.871 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:40:10.884Z,1628952010.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.519997 m, bearing: 170.496698 deg, deltaT: 4.374745 s, approachRate: -0.726901 m/s, LOS rate: -0.180140 deg/s, posRepo size: 4
2021-08-14T14:40:10.886Z,1628952010.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.519997 m,
      bearing: 170.496698 deg,
      approachRate: -0.726901 m/s,
      LOS rate: -0.180140 deg/s,
      cmd update: -0.540420 deg/s,
      cmd heading: 171.209503 deg,
      new cmd heading: 171.087658 deg.

2021-08-14T14:40:12.883Z,1628952012.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:13.177Z,1628952013.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:13.177Z,1628952013.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:13.178Z,1628952013.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:13.178Z,1628952013.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:13.577Z,1628952013.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,009A3,184,80,80,B1,FF
2021-08-14T14:40:13.577Z,1628952013.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:13.577Z,1628952013.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:13.579Z,1628952013.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:14.025Z,1628952014.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:14.385Z,1628952014.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00974,185,80,80,B9,FF
2021-08-14T14:40:14.386Z,1628952014.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:14.882Z,1628952014.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.700005 m, bearing: 170.857073 deg, deltaT: 4.043157 s, approachRate: -0.697473 m/s, LOS rate: 0.089132 deg/s, posRepo size: 4
2021-08-14T14:40:14.885Z,1628952014.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.700005 m,
      bearing: 170.857073 deg,
      approachRate: -0.697473 m/s,
      LOS rate: 0.089132 deg/s,
      cmd update: 0.267396 deg/s,
      cmd heading: 169.024611 deg,
      new cmd heading: 168.767097 deg.

2021-08-14T14:40:16.038Z,1628952016.038 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T14:40:17.231Z,1628952017.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:17.625Z,1628952017.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:17.625Z,1628952017.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:17.625Z,1628952017.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:17.626Z,1628952017.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:18.037Z,1628952018.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00974,185,80,80,B9,FF
2021-08-14T14:40:18.037Z,1628952018.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:18.037Z,1628952018.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:18.039Z,1628952018.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:18.444Z,1628952018.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:18.837Z,1628952018.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,0093E,184,80,80,B3,FF
2021-08-14T14:40:18.837Z,1628952018.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:18.841Z,1628952018.841 [Micromodem](INFO): Nmea in: $SNTTA,0.161173,0.161173,,,144019.76*56

2021-08-14T14:40:19.286Z,1628952019.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 170.664352 deg, deltaT: 4.544261 s, approachRate: -0.712987 m/s, LOS rate: -0.042410 deg/s, posRepo size: 4
2021-08-14T14:40:19.288Z,1628952019.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.460007 m,
      bearing: 170.664352 deg,
      approachRate: -0.712987 m/s,
      LOS rate: -0.042410 deg/s,
      cmd update: -0.127229 deg/s,
      cmd heading: 170.235141 deg,
      new cmd heading: 170.329577 deg.

2021-08-14T14:40:20.907Z,1628952020.907 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:40:21.687Z,1628952021.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:22.065Z,1628952022.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:22.065Z,1628952022.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:22.066Z,1628952022.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:22.067Z,1628952022.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:22.473Z,1628952022.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,0093E,184,80,80,B3,FF
2021-08-14T14:40:22.474Z,1628952022.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:22.474Z,1628952022.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:22.475Z,1628952022.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:22.877Z,1628952022.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:23.289Z,1628952023.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00909,184,80,80,BD,FF
2021-08-14T14:40:23.289Z,1628952023.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:23.715Z,1628952023.715 [Micromodem](INFO): Nmea in: $SNTTA,0.072599,,,,144024.20*45

2021-08-14T14:40:23.775Z,1628952023.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.279999 m, bearing: 170.738678 deg, deltaT: 4.355619 s, approachRate: -0.730093 m/s, LOS rate: 0.017064 deg/s, posRepo size: 4
2021-08-14T14:40:23.777Z,1628952023.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.279999 m,
      bearing: 170.738678 deg,
      approachRate: -0.730093 m/s,
      LOS rate: 0.017064 deg/s,
      cmd update: 0.051193 deg/s,
      cmd heading: 169.678789 deg,
      new cmd heading: 169.619124 deg.

2021-08-14T14:40:26.149Z,1628952026.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:26.505Z,1628952026.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:26.505Z,1628952026.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:26.505Z,1628952026.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:26.506Z,1628952026.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:26.913Z,1628952026.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00909,184,80,80,BD,FF
2021-08-14T14:40:26.913Z,1628952026.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:26.913Z,1628952026.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:26.915Z,1628952026.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:27.327Z,1628952027.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:27.725Z,1628952027.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,008D4,182,80,80,B1,FF
2021-08-14T14:40:27.727Z,1628952027.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:28.161Z,1628952028.161 [Micromodem](INFO): Nmea in: $SNTTA,0.071422,,,,144028.64*4B

2021-08-14T14:40:28.183Z,1628952028.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 170.871566 deg, deltaT: 4.500495 s, approachRate: -0.706587 m/s, LOS rate: 0.029527 deg/s, posRepo size: 4
2021-08-14T14:40:28.206Z,1628952028.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.100006 m,
      bearing: 170.871566 deg,
      approachRate: -0.706587 m/s,
      LOS rate: 0.029527 deg/s,
      cmd update: 0.088582 deg/s,
      cmd heading: 169.908989 deg,
      new cmd heading: 169.928488 deg.

2021-08-14T14:40:30.619Z,1628952030.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:30.949Z,1628952030.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:30.949Z,1628952030.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:30.949Z,1628952030.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:30.950Z,1628952030.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:31.015Z,1628952031.015 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:40:31.365Z,1628952031.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,008D4,182,80,80,B1,FF
2021-08-14T14:40:31.365Z,1628952031.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:31.366Z,1628952031.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:31.368Z,1628952031.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:31.801Z,1628952031.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:32.170Z,1628952032.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00D,000,0089D,183,80,80,BB,FF
2021-08-14T14:40:32.170Z,1628952032.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:32.613Z,1628952032.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144033.09*56

2021-08-14T14:40:32.649Z,1628952032.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 170.760043 deg, deltaT: 4.423830 s, approachRate: -0.745961 m/s, LOS rate: -0.025210 deg/s, posRepo size: 4
2021-08-14T14:40:32.651Z,1628952032.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.800003 m,
      bearing: 170.760043 deg,
      approachRate: -0.745961 m/s,
      LOS rate: -0.025210 deg/s,
      cmd update: -0.075629 deg/s,
      cmd heading: 170.301142 deg,
      new cmd heading: 170.338284 deg.

2021-08-14T14:40:35.034Z,1628952035.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:35.389Z,1628952035.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:35.389Z,1628952035.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:35.389Z,1628952035.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:35.390Z,1628952035.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:35.829Z,1628952035.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00D,000,0089D,183,80,80,BB,FF
2021-08-14T14:40:35.829Z,1628952035.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:35.829Z,1628952035.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:35.831Z,1628952035.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:35.875Z,1628952035.875 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:40:36.201Z,1628952036.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:36.633Z,1628952036.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,0086C,183,80,80,BA,FF
2021-08-14T14:40:36.633Z,1628952036.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:36.637Z,1628952036.637 [Micromodem](INFO): Nmea in: $SNTTA,0.069611,0.263790,,,144037.55*5B

2021-08-14T14:40:37.087Z,1628952037.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.860001 m, bearing: 171.412067 deg, deltaT: 4.531751 s, approachRate: -0.648756 m/s, LOS rate: 0.143879 deg/s, posRepo size: 4
2021-08-14T14:40:37.093Z,1628952037.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.860001 m,
      bearing: 171.412067 deg,
      approachRate: -0.648756 m/s,
      LOS rate: 0.143879 deg/s,
      cmd update: 0.431637 deg/s,
      cmd heading: 169.960997 deg,
      new cmd heading: 169.933801 deg.

2021-08-14T14:40:39.448Z,1628952039.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:39.837Z,1628952039.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:39.837Z,1628952039.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:39.838Z,1628952039.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:39.839Z,1628952039.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:40.242Z,1628952040.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,0086C,183,80,80,BA,FF
2021-08-14T14:40:40.242Z,1628952040.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:40.242Z,1628952040.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:40.244Z,1628952040.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:40.649Z,1628952040.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:41.053Z,1628952041.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00839,183,80,80,BD,FF
2021-08-14T14:40:41.054Z,1628952041.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:41.063Z,1628952041.063 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:40:41.481Z,1628952041.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144041.97*54

2021-08-14T14:40:41.504Z,1628952041.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.800003 m, bearing: 171.842983 deg, deltaT: 4.348632 s, approachRate: -0.703669 m/s, LOS rate: 0.099092 deg/s, posRepo size: 4
2021-08-14T14:40:41.506Z,1628952041.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.800003 m,
      bearing: 171.842983 deg,
      approachRate: -0.703669 m/s,
      LOS rate: 0.099092 deg/s,
      cmd update: 0.297277 deg/s,
      cmd heading: 171.841717 deg,
      new cmd heading: 172.022749 deg.

2021-08-14T14:40:43.901Z,1628952043.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:44.285Z,1628952044.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:44.285Z,1628952044.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:44.286Z,1628952044.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:44.287Z,1628952044.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:44.681Z,1628952044.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00839,183,80,80,BD,FF
2021-08-14T14:40:44.681Z,1628952044.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:44.681Z,1628952044.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:44.683Z,1628952044.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:45.093Z,1628952045.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:45.489Z,1628952045.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00804,184,80,80,C1,FF
2021-08-14T14:40:45.490Z,1628952045.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:45.936Z,1628952045.936 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T14:40:45.936Z,1628952045.936 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T14:40:45.936Z,1628952045.936 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T14:40:45.999Z,1628952045.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 171.892543 deg, deltaT: 4.395674 s, approachRate: -0.723439 m/s, LOS rate: 0.011275 deg/s, posRepo size: 4
2021-08-14T14:40:46.013Z,1628952046.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.620003 m,
      bearing: 171.892543 deg,
      approachRate: -0.723439 m/s,
      LOS rate: 0.011275 deg/s,
      cmd update: 0.033824 deg/s,
      cmd heading: 173.156333 deg,
      new cmd heading: 173.302510 deg.

2021-08-14T14:40:46.148Z,1628952046.148 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T14:40:46.388Z,1628952046.388 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T14:40:47.240Z,1628952047.240 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T14:40:47.240Z,1628952047.240 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T14:40:48.339Z,1628952048.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:48.722Z,1628952048.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:48.722Z,1628952048.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:48.722Z,1628952048.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:48.723Z,1628952048.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:49.125Z,1628952049.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00804,184,80,80,C1,FF
2021-08-14T14:40:49.125Z,1628952049.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:49.125Z,1628952049.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:49.127Z,1628952049.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:49.533Z,1628952049.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:49.941Z,1628952049.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,007D0,185,80,80,BE,FF
2021-08-14T14:40:49.942Z,1628952049.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:50.385Z,1628952050.385 [Micromodem](INFO): Nmea in: $SNTTA,0.064903,,,,144050.85*41

2021-08-14T14:40:50.428Z,1628952050.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 171.698388 deg, deltaT: 4.451792 s, approachRate: -0.700842 m/s, LOS rate: -0.043613 deg/s, posRepo size: 4
2021-08-14T14:40:50.430Z,1628952050.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.500000 m,
      bearing: 171.698388 deg,
      approachRate: -0.700842 m/s,
      LOS rate: -0.043613 deg/s,
      cmd update: -0.130838 deg/s,
      cmd heading: 173.306911 deg,
      new cmd heading: 173.322656 deg.

2021-08-14T14:40:52.810Z,1628952052.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:53.177Z,1628952053.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:53.177Z,1628952053.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:53.177Z,1628952053.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:53.178Z,1628952053.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:53.577Z,1628952053.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,007D0,185,80,80,BE,FF
2021-08-14T14:40:53.577Z,1628952053.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:53.578Z,1628952053.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:53.579Z,1628952053.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:53.977Z,1628952053.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:54.377Z,1628952054.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,0079D,184,80,80,A3,FF
2021-08-14T14:40:54.378Z,1628952054.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:54.381Z,1628952054.381 [Micromodem](INFO): Nmea in: $SNTTA,0.186306,0.186106,,,144055.30*5E

2021-08-14T14:40:54.843Z,1628952054.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.440002 m, bearing: 171.272471 deg, deltaT: 4.438142 s, approachRate: -0.689477 m/s, LOS rate: -0.095967 deg/s, posRepo size: 4
2021-08-14T14:40:54.849Z,1628952054.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.440002 m,
      bearing: 171.272471 deg,
      approachRate: -0.689477 m/s,
      LOS rate: -0.095967 deg/s,
      cmd update: -0.287902 deg/s,
      cmd heading: 172.726241 deg,
      new cmd heading: 172.667813 deg.

2021-08-14T14:40:57.230Z,1628952057.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:40:57.609Z,1628952057.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:40:57.609Z,1628952057.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:40:57.610Z,1628952057.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:40:57.611Z,1628952057.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:40:58.013Z,1628952058.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,0079D,184,80,80,A3,FF
2021-08-14T14:40:58.013Z,1628952058.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:40:58.013Z,1628952058.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:40:58.015Z,1628952058.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:40:58.429Z,1628952058.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:40:58.821Z,1628952058.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00768,184,80,80,AA,FF
2021-08-14T14:40:58.821Z,1628952058.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:40:58.849Z,1628952058.849 [Micromodem](INFO): Nmea in: $SNTTA,0.211509,0.211853,,,144059.74*52

2021-08-14T14:40:59.261Z,1628952059.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 171.732607 deg, deltaT: 4.501954 s, approachRate: -0.706362 m/s, LOS rate: 0.102208 deg/s, posRepo size: 4
2021-08-14T14:40:59.263Z,1628952059.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 171.732607 deg,
      approachRate: -0.706362 m/s,
      LOS rate: 0.102208 deg/s,
      cmd update: 0.306624 deg/s,
      cmd heading: 171.431611 deg,
      new cmd heading: 171.325834 deg.

2021-08-14T14:41:01.738Z,1628952061.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:02.053Z,1628952062.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:02.053Z,1628952062.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:02.053Z,1628952062.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:02.054Z,1628952062.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:02.457Z,1628952062.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00768,184,80,80,AA,FF
2021-08-14T14:41:02.457Z,1628952062.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:02.457Z,1628952062.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:02.459Z,1628952062.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:02.870Z,1628952062.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:03.277Z,1628952063.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00733,185,80,80,AF,FF
2021-08-14T14:41:03.277Z,1628952063.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:03.722Z,1628952063.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144104.18*53

2021-08-14T14:41:03.775Z,1628952063.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 172.172253 deg, deltaT: 4.429140 s, approachRate: -0.717971 m/s, LOS rate: 0.099262 deg/s, posRepo size: 4
2021-08-14T14:41:03.783Z,1628952063.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 172.172253 deg,
      approachRate: -0.717971 m/s,
      LOS rate: 0.099262 deg/s,
      cmd update: 0.297786 deg/s,
      cmd heading: 172.789923 deg,
      new cmd heading: 172.928591 deg.

2021-08-14T14:41:06.111Z,1628952066.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:06.505Z,1628952066.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:06.505Z,1628952066.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:06.506Z,1628952066.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:06.507Z,1628952066.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:06.905Z,1628952066.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00733,185,80,80,AF,FF
2021-08-14T14:41:06.905Z,1628952066.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:06.905Z,1628952066.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:06.907Z,1628952066.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:07.324Z,1628952067.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:07.706Z,1628952067.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00700,184,80,80,B1,FF
2021-08-14T14:41:07.707Z,1628952067.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:08.162Z,1628952068.162 [Micromodem](INFO): Nmea in: $SNTTA,0.049290,,,,144108.63*4B

2021-08-14T14:41:08.188Z,1628952068.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.020004 m, bearing: 172.454873 deg, deltaT: 4.446518 s, approachRate: -0.688178 m/s, LOS rate: 0.063560 deg/s, posRepo size: 4
2021-08-14T14:41:08.190Z,1628952068.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.020004 m,
      bearing: 172.454873 deg,
      approachRate: -0.688178 m/s,
      LOS rate: 0.063560 deg/s,
      cmd update: 0.190679 deg/s,
      cmd heading: 174.114166 deg,
      new cmd heading: 174.238672 deg.

2021-08-14T14:41:10.657Z,1628952070.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:10.945Z,1628952070.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:10.945Z,1628952070.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:10.945Z,1628952070.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:10.946Z,1628952070.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:11.345Z,1628952071.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00700,184,80,80,B1,FF
2021-08-14T14:41:11.345Z,1628952071.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:11.345Z,1628952071.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:11.347Z,1628952071.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:11.769Z,1628952071.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:12.153Z,1628952072.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,006C7,184,80,80,BC,FF
2021-08-14T14:41:12.153Z,1628952072.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:12.633Z,1628952072.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144113.07*5B

2021-08-14T14:41:12.691Z,1628952072.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.599998 m, bearing: 171.283099 deg, deltaT: 4.396494 s, approachRate: -0.777894 m/s, LOS rate: -0.266525 deg/s, posRepo size: 4
2021-08-14T14:41:12.695Z,1628952072.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.599998 m,
      bearing: 171.283099 deg,
      approachRate: -0.777894 m/s,
      LOS rate: -0.266525 deg/s,
      cmd update: -0.799574 deg/s,
      cmd heading: 174.953254 deg,
      new cmd heading: 175.052587 deg.

2021-08-14T14:41:14.729Z,1628952074.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:14.981Z,1628952074.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:14.981Z,1628952074.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:14.981Z,1628952074.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:14.982Z,1628952074.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:15.385Z,1628952075.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,006C7,184,80,80,BC,FF
2021-08-14T14:41:15.385Z,1628952075.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:15.385Z,1628952075.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:15.387Z,1628952075.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:15.815Z,1628952075.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:16.201Z,1628952076.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00696,184,80,80,A5,FF
2021-08-14T14:41:16.201Z,1628952076.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:16.665Z,1628952076.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144117.11*58

2021-08-14T14:41:16.735Z,1628952076.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 171.406562 deg, deltaT: 4.076481 s, approachRate: -0.721208 m/s, LOS rate: 0.030287 deg/s, posRepo size: 4
2021-08-14T14:41:16.753Z,1628952076.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.660007 m,
      bearing: 171.406562 deg,
      approachRate: -0.721208 m/s,
      LOS rate: 0.030287 deg/s,
      cmd update: 0.090860 deg/s,
      cmd heading: 171.697112 deg,
      new cmd heading: 171.303797 deg.

2021-08-14T14:41:18.760Z,1628952078.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:19.021Z,1628952079.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:19.021Z,1628952079.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:19.021Z,1628952079.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:19.022Z,1628952079.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:19.430Z,1628952079.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00696,184,80,80,A5,FF
2021-08-14T14:41:19.430Z,1628952079.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:19.430Z,1628952079.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:19.432Z,1628952079.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:19.833Z,1628952079.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:20.241Z,1628952080.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00668,184,80,80,B5,FF
2021-08-14T14:41:20.241Z,1628952080.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:20.695Z,1628952080.695 [Micromodem](INFO): Nmea in: $SNTTA,0.049505,,,,144121.16*49

2021-08-14T14:41:20.803Z,1628952080.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 171.268086 deg, deltaT: 4.036640 s, approachRate: -0.683738 m/s, LOS rate: -0.034305 deg/s, posRepo size: 4
2021-08-14T14:41:20.810Z,1628952080.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.900002 m,
      bearing: 171.268086 deg,
      approachRate: -0.683738 m/s,
      LOS rate: -0.034305 deg/s,
      cmd update: -0.102914 deg/s,
      cmd heading: 172.062430 deg,
      new cmd heading: 172.111493 deg.

2021-08-14T14:41:23.090Z,1628952083.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:23.465Z,1628952083.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:23.465Z,1628952083.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:23.465Z,1628952083.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:23.466Z,1628952083.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:23.881Z,1628952083.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00668,184,80,80,B5,FF
2021-08-14T14:41:23.881Z,1628952083.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:23.881Z,1628952083.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:23.883Z,1628952083.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:24.274Z,1628952084.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:24.694Z,1628952084.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00635,185,80,80,A9,FF
2021-08-14T14:41:24.694Z,1628952084.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:25.109Z,1628952085.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144125.60*5F

2021-08-14T14:41:25.131Z,1628952085.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 171.613298 deg, deltaT: 4.509721 s, approachRate: -0.678534 m/s, LOS rate: 0.076548 deg/s, posRepo size: 4
2021-08-14T14:41:25.154Z,1628952085.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.840004 m,
      bearing: 171.613298 deg,
      approachRate: -0.678534 m/s,
      LOS rate: 0.076548 deg/s,
      cmd update: 0.229645 deg/s,
      cmd heading: 171.596321 deg,
      new cmd heading: 171.561448 deg.

2021-08-14T14:41:27.523Z,1628952087.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:27.918Z,1628952087.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:27.918Z,1628952087.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:27.918Z,1628952087.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:27.919Z,1628952087.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:28.325Z,1628952088.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00635,185,80,80,A9,FF
2021-08-14T14:41:28.325Z,1628952088.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:28.325Z,1628952088.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:28.327Z,1628952088.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:28.734Z,1628952088.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:29.121Z,1628952089.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,005FD,184,80,80,A5,FF
2021-08-14T14:41:29.121Z,1628952089.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:29.562Z,1628952089.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144130.05*58

2021-08-14T14:41:29.578Z,1628952089.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 170.375995 deg, deltaT: 4.376873 s, approachRate: -0.767672 m/s, LOS rate: -0.282691 deg/s, posRepo size: 4
2021-08-14T14:41:29.580Z,1628952089.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 170.375995 deg,
      approachRate: -0.767672 m/s,
      LOS rate: -0.282691 deg/s,
      cmd update: -0.848073 deg/s,
      cmd heading: 172.600686 deg,
      new cmd heading: 172.695204 deg.

2021-08-14T14:41:32.002Z,1628952092.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:32.361Z,1628952092.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:32.361Z,1628952092.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:32.361Z,1628952092.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:32.362Z,1628952092.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:32.773Z,1628952092.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,005FD,184,80,80,A5,FF
2021-08-14T14:41:32.773Z,1628952092.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:32.773Z,1628952092.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:32.775Z,1628952092.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:33.165Z,1628952093.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:33.561Z,1628952093.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,005CB,183,80,80,9A,FF
2021-08-14T14:41:33.562Z,1628952093.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:34.005Z,1628952094.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144134.50*5C

2021-08-14T14:41:34.042Z,1628952094.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.479996 m, bearing: 172.068817 deg, deltaT: 4.462741 s, approachRate: -0.672233 m/s, LOS rate: 0.379323 deg/s, posRepo size: 4
2021-08-14T14:41:34.044Z,1628952094.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.479996 m,
      bearing: 172.068817 deg,
      approachRate: -0.672233 m/s,
      LOS rate: 0.379323 deg/s,
      cmd update: 1.137970 deg/s,
      cmd heading: 168.824978 deg,
      new cmd heading: 168.465503 deg.

2021-08-14T14:41:36.415Z,1628952096.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:36.804Z,1628952096.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:36.805Z,1628952096.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:36.805Z,1628952096.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:36.807Z,1628952096.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:37.213Z,1628952097.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,005CB,183,80,80,9A,FF
2021-08-14T14:41:37.213Z,1628952097.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:37.214Z,1628952097.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:37.215Z,1628952097.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:37.608Z,1628952097.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:38.017Z,1628952098.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00598,183,80,80,92,FF
2021-08-14T14:41:38.018Z,1628952098.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:38.452Z,1628952098.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144138.94*58

2021-08-14T14:41:38.478Z,1628952098.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.419998 m, bearing: 172.305169 deg, deltaT: 4.402142 s, approachRate: -0.695116 m/s, LOS rate: 0.053690 deg/s, posRepo size: 4
2021-08-14T14:41:38.500Z,1628952098.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.419998 m,
      bearing: 172.305169 deg,
      approachRate: -0.695116 m/s,
      LOS rate: 0.053690 deg/s,
      cmd update: 0.161071 deg/s,
      cmd heading: 173.851145 deg,
      new cmd heading: 174.355382 deg.

2021-08-14T14:41:40.936Z,1628952100.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:41.249Z,1628952101.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:41.249Z,1628952101.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:41.250Z,1628952101.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:41.250Z,1628952101.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:41.681Z,1628952101.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00598,183,80,80,92,FF
2021-08-14T14:41:41.681Z,1628952101.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:41.681Z,1628952101.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:41.683Z,1628952101.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:42.128Z,1628952102.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:42.461Z,1628952102.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00560,184,80,80,9E,FF
2021-08-14T14:41:42.461Z,1628952102.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:42.641Z,1628952102.641 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-14T14:41:42.889Z,1628952102.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144143.41*5C

2021-08-14T14:41:42.943Z,1628952102.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 169.644332 deg, deltaT: 4.443487 s, approachRate: -0.756163 m/s, LOS rate: -0.598817 deg/s, posRepo size: 4
2021-08-14T14:41:42.946Z,1628952102.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 169.644332 deg,
      approachRate: -0.756163 m/s,
      LOS rate: -0.598817 deg/s,
      cmd update: -1.796452 deg/s,
      cmd heading: 174.566856 deg,
      new cmd heading: 174.641746 deg.

2021-08-14T14:41:43.334Z,1628952103.334 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:44.338Z,1628952104.338 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:45.319Z,1628952105.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:45.342Z,1628952105.342 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:45.739Z,1628952105.739 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:45.739Z,1628952105.739 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:45.739Z,1628952105.739 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:45.740Z,1628952105.740 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:46.101Z,1628952106.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00560,184,80,80,9E,FF
2021-08-14T14:41:46.101Z,1628952106.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:46.101Z,1628952106.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:46.103Z,1628952106.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:46.346Z,1628952106.346 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:46.497Z,1628952106.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:46.913Z,1628952106.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,0052E,184,80,80,B2,FF
2021-08-14T14:41:46.913Z,1628952106.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:47.325Z,1628952107.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144147.83*56

2021-08-14T14:41:47.350Z,1628952107.350 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:47.351Z,1628952107.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 170.044690 deg, deltaT: 4.504900 s, approachRate: -0.665941 m/s, LOS rate: 0.088872 deg/s, posRepo size: 4
2021-08-14T14:41:47.377Z,1628952107.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.060001 m,
      bearing: 170.044690 deg,
      approachRate: -0.665941 m/s,
      LOS rate: 0.088872 deg/s,
      cmd update: 0.266615 deg/s,
      cmd heading: 166.473980 deg,
      new cmd heading: 165.819660 deg.

2021-08-14T14:41:48.354Z,1628952108.354 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:49.358Z,1628952109.358 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:49.768Z,1628952109.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:50.137Z,1628952110.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:50.138Z,1628952110.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:50.138Z,1628952110.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:50.139Z,1628952110.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:50.362Z,1628952110.362 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:50.544Z,1628952110.544 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,0052E,184,80,80,B2,FF
2021-08-14T14:41:50.545Z,1628952110.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:50.545Z,1628952110.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:50.552Z,1628952110.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:50.959Z,1628952110.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:51.345Z,1628952111.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,004F6,183,80,80,99,FF
2021-08-14T14:41:51.345Z,1628952111.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:51.366Z,1628952111.366 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:51.793Z,1628952111.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144152.28*53

2021-08-14T14:41:51.831Z,1628952111.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 171.260682 deg, deltaT: 4.382742 s, approachRate: -0.766644 m/s, LOS rate: 0.277450 deg/s, posRepo size: 4
2021-08-14T14:41:51.831Z,1628952111.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m.
2021-08-14T14:41:51.834Z,1628952111.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.699997 m,
      bearing: 171.260682 deg,
      approachRate: -0.766644 m/s,
      LOS rate: 0.277450 deg/s,
      cmd update: 0.832350 deg/s,
      cmd heading: 167.641550 deg,
      new cmd heading: 167.766422 deg.

2021-08-14T14:41:52.199Z,1628952112.199 [PowerOnly](INFO): Powering up loadControl
2021-08-14T14:41:52.233Z,1628952112.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:41:52.234Z,1628952112.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:41:52.234Z,1628952112.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:41:52.234Z,1628952112.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:41:52.235Z,1628952112.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:41:52.235Z,1628952112.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:41:52.371Z,1628952112.371 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:52.692Z,1628952112.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:41:52.692Z,1628952112.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:41:52.692Z,1628952112.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:41:52.692Z,1628952112.692 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:41:53.378Z,1628952113.378 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T14:41:53.539Z,1628952113.539 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005445
CHAN A1 (24V): -0.024097
CHAN A2 (12V): -0.005688
CHAN A3 (5V): -0.001598
CHAN B0 (3.3V): 0.000812
CHAN B1 (3.15aV): 0.000678
CHAN B2 (3.15bV): 0.000189
CHAN B3 (GND): 0.001863
OPEN: 0.006600
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-14T14:41:54.214Z,1628952114.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:54.623Z,1628952114.623 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:54.624Z,1628952114.624 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:54.625Z,1628952114.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:54.626Z,1628952114.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:54.994Z,1628952114.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,004F6,183,80,80,99,FF
2021-08-14T14:41:54.994Z,1628952114.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:54.995Z,1628952114.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:54.998Z,1628952114.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:55.403Z,1628952115.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:41:55.803Z,1628952115.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,004C4,184,80,80,96,FF
2021-08-14T14:41:55.835Z,1628952115.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:41:55.907Z,1628952115.907 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:41:56.230Z,1628952116.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144156.72*58

2021-08-14T14:41:56.248Z,1628952116.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 173.114683 deg, deltaT: 4.537640 s, approachRate: -0.661137 m/s, LOS rate: 0.408582 deg/s, posRepo size: 4
2021-08-14T14:41:56.248Z,1628952116.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.70 m.
2021-08-14T14:41:56.250Z,1628952116.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.699997 m,
      bearing: 173.114683 deg,
      approachRate: -0.661137 m/s,
      LOS rate: 0.408582 deg/s,
      cmd update: 1.225747 deg/s,
      cmd heading: 171.417638 deg,
      new cmd heading: 171.707622 deg.

2021-08-14T14:41:58.742Z,1628952118.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:41:59.017Z,1628952119.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:41:59.017Z,1628952119.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:41:59.017Z,1628952119.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:41:59.018Z,1628952119.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:41:59.425Z,1628952119.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,004C4,184,80,80,96,FF
2021-08-14T14:41:59.425Z,1628952119.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:41:59.425Z,1628952119.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:41:59.427Z,1628952119.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:41:59.929Z,1628952119.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:00.233Z,1628952120.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00490,183,80,80,4E,FF
2021-08-14T14:42:00.234Z,1628952120.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:00.255Z,1628952120.255 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:00.678Z,1628952120.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144201.15*58

2021-08-14T14:42:00.761Z,1628952120.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 174.227430 deg, deltaT: 4.347956 s, approachRate: -0.717577 m/s, LOS rate: 0.255924 deg/s, posRepo size: 4
2021-08-14T14:42:00.764Z,1628952120.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.58 m.
2021-08-14T14:42:00.766Z,1628952120.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.580002 m,
      bearing: 174.227430 deg,
      approachRate: -0.717577 m/s,
      LOS rate: 0.255924 deg/s,
      cmd update: 0.767772 deg/s,
      cmd heading: 176.752114 deg,
      new cmd heading: 177.357120 deg.

2021-08-14T14:42:02.822Z,1628952122.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:03.061Z,1628952123.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:03.061Z,1628952123.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:03.061Z,1628952123.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:03.062Z,1628952123.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:03.473Z,1628952123.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00490,183,80,80,4E,FF
2021-08-14T14:42:03.473Z,1628952123.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:03.473Z,1628952123.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:03.475Z,1628952123.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:03.876Z,1628952123.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:04.281Z,1628952124.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00466,185,80,80,73,FF
2021-08-14T14:42:04.282Z,1628952124.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:04.302Z,1628952124.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:04.734Z,1628952124.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144205.20*5A

2021-08-14T14:42:04.835Z,1628952124.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 172.476046 deg, deltaT: 4.047522 s, approachRate: -0.622604 m/s, LOS rate: -0.432705 deg/s, posRepo size: 4
2021-08-14T14:42:04.835Z,1628952124.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.06 m.
2021-08-14T14:42:04.842Z,1628952124.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.059999 m,
      bearing: 172.476046 deg,
      approachRate: -0.622604 m/s,
      LOS rate: -0.432705 deg/s,
      cmd update: -1.298115 deg/s,
      cmd heading: 179.859651 deg,
      new cmd heading: 180.271121 deg.

2021-08-14T14:42:07.137Z,1628952127.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:07.513Z,1628952127.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:07.513Z,1628952127.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:07.513Z,1628952127.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:07.514Z,1628952127.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:07.913Z,1628952127.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00466,185,80,80,73,FF
2021-08-14T14:42:07.913Z,1628952127.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:07.913Z,1628952127.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:07.915Z,1628952127.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:08.320Z,1628952128.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:08.734Z,1628952128.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,00434,186,80,80,B3,FF
2021-08-14T14:42:08.735Z,1628952128.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:08.852Z,1628952128.852 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:09.149Z,1628952129.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144209.64*56

2021-08-14T14:42:09.192Z,1628952129.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 171.187859 deg, deltaT: 4.550193 s, approachRate: -0.659313 m/s, LOS rate: -0.283106 deg/s, posRepo size: 4
2021-08-14T14:42:09.192Z,1628952129.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.06 m.
2021-08-14T14:42:09.193Z,1628952129.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.06 m.
2021-08-14T14:42:09.193Z,1628952129.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T14:42:09.195Z,1628952129.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.059999 m,
      bearing: 171.187859 deg,
      approachRate: -0.659313 m/s,
      LOS rate: -0.283106 deg/s,
      cmd update: -0.849318 deg/s,
      cmd heading: 173.953033 deg,
      new cmd heading: 173.534058 deg.

2021-08-14T14:42:11.563Z,1628952131.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:11.957Z,1628952131.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:11.957Z,1628952131.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:11.958Z,1628952131.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:11.959Z,1628952131.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:12.354Z,1628952132.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,00434,186,80,80,B3,FF
2021-08-14T14:42:12.354Z,1628952132.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:12.354Z,1628952132.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:12.356Z,1628952132.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:12.769Z,1628952132.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:13.161Z,1628952133.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00404,184,80,80,B5,FF
2021-08-14T14:42:13.162Z,1628952133.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:13.251Z,1628952133.251 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:13.611Z,1628952133.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144214.08*50

2021-08-14T14:42:13.632Z,1628952133.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 170.607812 deg, deltaT: 4.398813 s, approachRate: -0.654722 m/s, LOS rate: -0.131864 deg/s, posRepo size: 4
2021-08-14T14:42:13.637Z,1628952133.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.180000 m,
      bearing: 170.607812 deg,
      approachRate: -0.654722 m/s,
      LOS rate: -0.131864 deg/s,
      cmd update: -0.395593 deg/s,
      cmd heading: 170.220219 deg,
      new cmd heading: 169.891143 deg.

2021-08-14T14:42:16.021Z,1628952136.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:16.397Z,1628952136.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:16.397Z,1628952136.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:16.397Z,1628952136.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:16.398Z,1628952136.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:16.797Z,1628952136.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00404,184,80,80,B5,FF
2021-08-14T14:42:16.797Z,1628952136.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:16.798Z,1628952136.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:16.800Z,1628952136.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:17.216Z,1628952137.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:17.605Z,1628952137.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,003CF,183,80,80,A1,FF
2021-08-14T14:42:17.606Z,1628952137.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:17.688Z,1628952137.688 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:18.046Z,1628952138.046 [Micromodem](INFO): Nmea in: $SNTTA,0.044976,,,,144218.52*45

2021-08-14T14:42:18.073Z,1628952138.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 170.208164 deg, deltaT: 4.438344 s, approachRate: -0.716484 m/s, LOS rate: -0.090044 deg/s, posRepo size: 4
2021-08-14T14:42:18.075Z,1628952138.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.000000 m,
      bearing: 170.208164 deg,
      approachRate: -0.716484 m/s,
      LOS rate: -0.090044 deg/s,
      cmd update: -0.270133 deg/s,
      cmd heading: 168.476051 deg,
      new cmd heading: 168.309999 deg.

2021-08-14T14:42:20.459Z,1628952140.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:20.865Z,1628952140.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:20.865Z,1628952140.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:20.865Z,1628952140.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:20.866Z,1628952140.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:21.253Z,1628952141.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,003CF,183,80,80,A1,FF
2021-08-14T14:42:21.253Z,1628952141.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:21.253Z,1628952141.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:21.255Z,1628952141.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:21.652Z,1628952141.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:22.057Z,1628952142.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,0039E,183,80,80,84,FF
2021-08-14T14:42:22.058Z,1628952142.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:22.089Z,1628952142.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:22.489Z,1628952142.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144222.98*5C

2021-08-14T14:42:22.584Z,1628952142.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 169.431804 deg, deltaT: 4.399282 s, approachRate: -0.668291 m/s, LOS rate: -0.176474 deg/s, posRepo size: 4
2021-08-14T14:42:22.593Z,1628952142.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 169.431804 deg,
      approachRate: -0.668291 m/s,
      LOS rate: -0.176474 deg/s,
      cmd update: -0.529423 deg/s,
      cmd heading: 167.278656 deg,
      new cmd heading: 167.150009 deg.

2021-08-14T14:42:24.927Z,1628952144.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:25.285Z,1628952145.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:25.285Z,1628952145.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:25.285Z,1628952145.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:25.286Z,1628952145.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:25.686Z,1628952145.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,0039E,183,80,80,84,FF
2021-08-14T14:42:25.686Z,1628952145.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:25.686Z,1628952145.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:25.688Z,1628952145.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:26.105Z,1628952146.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:26.493Z,1628952146.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00371,185,80,80,44,FF
2021-08-14T14:42:26.494Z,1628952146.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:26.522Z,1628952146.522 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:26.938Z,1628952146.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144227.41*5D

2021-08-14T14:42:27.004Z,1628952147.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 168.331474 deg, deltaT: 4.433271 s, approachRate: -0.609031 m/s, LOS rate: -0.248198 deg/s, posRepo size: 4
2021-08-14T14:42:27.006Z,1628952147.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.359997 m,
      bearing: 168.331474 deg,
      approachRate: -0.609031 m/s,
      LOS rate: -0.248198 deg/s,
      cmd update: -0.744595 deg/s,
      cmd heading: 164.931586 deg,
      new cmd heading: 164.674698 deg.

2021-08-14T14:42:29.358Z,1628952149.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:29.726Z,1628952149.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:29.726Z,1628952149.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:29.726Z,1628952149.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:29.727Z,1628952149.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:30.133Z,1628952150.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00371,185,80,80,44,FF
2021-08-14T14:42:30.133Z,1628952150.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:30.133Z,1628952150.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:30.135Z,1628952150.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:30.581Z,1628952150.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:30.937Z,1628952150.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,0033D,187,80,80,9A,FF
2021-08-14T14:42:30.938Z,1628952150.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:30.958Z,1628952150.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:31.381Z,1628952151.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144231.86*51

2021-08-14T14:42:31.421Z,1628952151.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.240001 m, bearing: 169.667513 deg, deltaT: 4.435610 s, approachRate: -0.703397 m/s, LOS rate: 0.301208 deg/s, posRepo size: 4
2021-08-14T14:42:31.423Z,1628952151.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 169.667513 deg,
      approachRate: -0.703397 m/s,
      LOS rate: 0.301208 deg/s,
      cmd update: 0.903623 deg/s,
      cmd heading: 161.628832 deg,
      new cmd heading: 161.281675 deg.

2021-08-14T14:42:33.804Z,1628952153.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:34.169Z,1628952154.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:34.169Z,1628952154.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:34.169Z,1628952154.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:34.170Z,1628952154.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:34.633Z,1628952154.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,0033D,187,80,80,9A,FF
2021-08-14T14:42:34.633Z,1628952154.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:34.633Z,1628952154.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:34.635Z,1628952154.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:35.016Z,1628952155.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:35.410Z,1628952155.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00312,186,80,80,BB,FF
2021-08-14T14:42:35.410Z,1628952155.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:35.467Z,1628952155.467 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:35.846Z,1628952155.846 [Micromodem](INFO): Nmea in: $SNTTA,0.032118,,,,144236.36*4A

2021-08-14T14:42:35.903Z,1628952155.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 171.332454 deg, deltaT: 4.509380 s, approachRate: -0.572141 m/s, LOS rate: 0.369217 deg/s, posRepo size: 4
2021-08-14T14:42:35.907Z,1628952155.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 171.332454 deg,
      approachRate: -0.572141 m/s,
      LOS rate: 0.369217 deg/s,
      cmd update: 1.107652 deg/s,
      cmd heading: 165.699953 deg,
      new cmd heading: 166.100395 deg.

2021-08-14T14:42:38.275Z,1628952158.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:38.649Z,1628952158.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:38.649Z,1628952158.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:38.649Z,1628952158.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:38.650Z,1628952158.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:39.054Z,1628952159.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00312,186,80,80,BB,FF
2021-08-14T14:42:39.054Z,1628952159.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:39.054Z,1628952159.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:39.056Z,1628952159.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:39.457Z,1628952159.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:39.865Z,1628952159.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,002E7,186,80,80,AF,FF
2021-08-14T14:42:39.865Z,1628952159.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:39.906Z,1628952159.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:40.297Z,1628952160.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144240.78*56

2021-08-14T14:42:40.340Z,1628952160.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 174.244970 deg, deltaT: 4.439335 s, approachRate: -0.581168 m/s, LOS rate: 0.656070 deg/s, posRepo size: 4
2021-08-14T14:42:40.342Z,1628952160.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 174.244970 deg,
      approachRate: -0.581168 m/s,
      LOS rate: 0.656070 deg/s,
      cmd update: 1.968211 deg/s,
      cmd heading: 170.621555 deg,
      new cmd heading: 171.105154 deg.

2021-08-14T14:42:41.189Z,1628952161.189 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-14T14:42:41.189Z,1628952161.189 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-14T14:42:41.189Z,1628952161.189 [ThrusterServo](ERROR): Communications Fault
2021-08-14T14:42:41.193Z,1628952161.193 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-14T14:42:41.605Z,1628952161.605 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-14T14:42:41.605Z,1628952161.605 [ThrusterServo](INFO): Powering down
2021-08-14T14:42:42.362Z,1628952162.362 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-14T14:42:42.477Z,1628952162.477 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-14T14:42:42.481Z,1628952162.481 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-14T14:42:42.481Z,1628952162.481 [ThrusterServo] No Fault, FailCount= 1
2021-08-14T14:42:42.750Z,1628952162.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:43.089Z,1628952163.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:43.089Z,1628952163.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:43.089Z,1628952163.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:43.090Z,1628952163.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:43.501Z,1628952163.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,002E7,186,80,80,AF,FF
2021-08-14T14:42:43.501Z,1628952163.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:43.501Z,1628952163.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:43.503Z,1628952163.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:43.901Z,1628952163.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:44.309Z,1628952164.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,002CD,187,80,80,65,FF
2021-08-14T14:42:44.309Z,1628952164.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:44.329Z,1628952164.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:44.749Z,1628952164.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144245.23*5D

2021-08-14T14:42:44.831Z,1628952164.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 183.042731 deg, deltaT: 4.423118 s, approachRate: -0.352693 m/s, LOS rate: 1.989041 deg/s, posRepo size: 4
2021-08-14T14:42:44.837Z,1628952164.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 183.042731 deg,
      approachRate: -0.352693 m/s,
      LOS rate: 1.989041 deg/s,
      cmd update: 5.967122 deg/s,
      cmd heading: 179.327404 deg,
      new cmd heading: 180.320308 deg.

2021-08-14T14:42:47.169Z,1628952167.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:47.545Z,1628952167.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:47.545Z,1628952167.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:47.545Z,1628952167.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:47.546Z,1628952167.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:47.933Z,1628952167.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,002CD,187,80,80,65,FF
2021-08-14T14:42:47.933Z,1628952167.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:47.934Z,1628952167.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:47.935Z,1628952167.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:48.344Z,1628952168.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:48.753Z,1628952168.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,002C3,189,80,80,7B,FF
2021-08-14T14:42:48.754Z,1628952168.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:48.830Z,1628952168.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:49.190Z,1628952169.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144249.66*50

2021-08-14T14:42:49.213Z,1628952169.213 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T14:42:49.213Z,1628952169.213 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:42:49.214Z,1628952169.214 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T14:42:49.214Z,1628952169.214 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:42:49.214Z,1628952169.214 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T14:42:49.214Z,1628952169.214 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2021-08-14T14:42:49.215Z,1628952169.215 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T14:42:49.215Z,1628952169.215 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T14:42:49.215Z,1628952169.215 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T14:42:49.217Z,1628952169.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 217.072100 deg, deltaT: 4.500770 s, approachRate: -0.133311 m/s, LOS rate: 7.560788 deg/s, posRepo size: 4
2021-08-14T14:42:49.219Z,1628952169.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 217.072100 deg,
      approachRate: -0.133311 m/s,
      LOS rate: 7.560788 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 206.135435 deg,
      new cmd heading: 208.513780 deg.

2021-08-14T14:42:49.594Z,1628952169.594 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T144249: (41.552319, -70.708603)
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T14:42:49.595Z,1628952169.595 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:42:50.086Z,1628952170.086 [UniversalFixResidualReporter](INFO): Fix residual: 6.7 %DT, over the last 661.0 m. Residual distance 44.3 m at bearing 82.2 degrees. Fix at (41.5513, -70.7068) with 0.0 m made good.
2021-08-14T14:42:51.610Z,1628952171.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:51.977Z,1628952171.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:51.977Z,1628952171.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:51.977Z,1628952171.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:51.978Z,1628952171.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:52.385Z,1628952172.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,002C3,189,80,80,7B,FF
2021-08-14T14:42:52.385Z,1628952172.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:52.385Z,1628952172.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:52.387Z,1628952172.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:52.789Z,1628952172.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:53.193Z,1628952173.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,002CD,187,80,80,75,FF
2021-08-14T14:42:53.193Z,1628952173.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:53.213Z,1628952173.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:53.647Z,1628952173.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144254.11*5C

2021-08-14T14:42:53.674Z,1628952173.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 195.521282 deg, deltaT: 4.383288 s, approachRate: 0.136884 m/s, LOS rate: -4.916587 deg/s, posRepo size: 4
2021-08-14T14:42:53.676Z,1628952173.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 195.521282 deg,
      approachRate: 0.136884 m/s,
      LOS rate: -4.916587 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 258.832440 deg,
      new cmd heading: 264.392376 deg.

2021-08-14T14:42:56.051Z,1628952176.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:42:56.421Z,1628952176.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:42:56.421Z,1628952176.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:42:56.421Z,1628952176.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:42:56.422Z,1628952176.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:42:56.825Z,1628952176.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,002CD,187,80,80,75,FF
2021-08-14T14:42:56.825Z,1628952176.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:42:56.825Z,1628952176.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:42:56.827Z,1628952176.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:42:57.261Z,1628952177.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:42:57.694Z,1628952177.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,002FB,186,80,80,4E,FF
2021-08-14T14:42:57.695Z,1628952177.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:42:57.771Z,1628952177.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:42:58.090Z,1628952178.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144258.55*50

2021-08-14T14:42:58.111Z,1628952178.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 215.632446 deg, deltaT: 4.557211 s, approachRate: 0.605633 m/s, LOS rate: 4.413042 deg/s, posRepo size: 4
2021-08-14T14:42:58.113Z,1628952178.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 215.632446 deg,
      approachRate: 0.605633 m/s,
      LOS rate: 4.413042 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.283858 deg,
      new cmd heading: 200.021002 deg.

2021-08-14T14:43:00.520Z,1628952180.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:00.926Z,1628952180.926 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:00.926Z,1628952180.926 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:00.927Z,1628952180.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:00.940Z,1628952180.940 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:01.301Z,1628952181.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,002FB,186,80,80,4E,FF
2021-08-14T14:43:01.301Z,1628952181.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:01.301Z,1628952181.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:01.303Z,1628952181.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:01.737Z,1628952181.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:02.109Z,1628952182.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A2,000,00316,189,80,80,38,FF
2021-08-14T14:43:02.109Z,1628952182.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:02.191Z,1628952182.191 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:02.605Z,1628952182.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 176.061923 deg, deltaT: 4.424915 s, approachRate: 0.366108 m/s, LOS rate: -8.942663 deg/s, posRepo size: 4
2021-08-14T14:43:02.607Z,1628952182.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 176.061923 deg,
      approachRate: 0.366108 m/s,
      LOS rate: -8.942663 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 257.421431 deg,
      new cmd heading: 262.477019 deg.

2021-08-14T14:43:04.975Z,1628952184.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:05.349Z,1628952185.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:05.349Z,1628952185.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:05.350Z,1628952185.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:05.350Z,1628952185.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:05.765Z,1628952185.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A2,000,00316,189,80,80,38,FF
2021-08-14T14:43:05.765Z,1628952185.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:05.765Z,1628952185.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:05.767Z,1628952185.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:06.161Z,1628952186.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:06.584Z,1628952186.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00329,187,80,80,85,FF
2021-08-14T14:43:06.586Z,1628952186.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:06.685Z,1628952186.685 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:06.989Z,1628952186.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144307.49*56

2021-08-14T14:43:07.011Z,1628952187.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 250.502433 deg, deltaT: 4.489315 s, approachRate: 0.253936 m/s, LOS rate: 16.581708 deg/s, posRepo size: 4
2021-08-14T14:43:07.014Z,1628952187.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.581708 deg/s. Setting heading cmd to target bearing of 250.502433deg and heading rate command to 0 deg/s.
2021-08-14T14:43:09.418Z,1628952189.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:09.785Z,1628952189.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:09.785Z,1628952189.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:09.785Z,1628952189.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:09.786Z,1628952189.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:10.193Z,1628952190.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00329,187,80,80,85,FF
2021-08-14T14:43:10.193Z,1628952190.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:10.194Z,1628952190.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:10.195Z,1628952190.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:10.634Z,1628952190.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:10.997Z,1628952190.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,0034B,189,80,80,83,FF
2021-08-14T14:43:10.998Z,1628952190.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:11.023Z,1628952191.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:11.445Z,1628952191.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144311.92*57

2021-08-14T14:43:11.474Z,1628952191.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 267.619079 deg, deltaT: 4.337645 s, approachRate: 0.470302 m/s, LOS rate: 3.946069 deg/s, posRepo size: 4
2021-08-14T14:43:11.474Z,1628952191.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.08 m. Rolling out.
2021-08-14T14:43:11.475Z,1628952191.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T14:43:13.847Z,1628952193.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:14.229Z,1628952194.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:14.229Z,1628952194.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:14.229Z,1628952194.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:14.230Z,1628952194.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:14.645Z,1628952194.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,0034B,189,80,80,83,FF
2021-08-14T14:43:14.645Z,1628952194.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:14.645Z,1628952194.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:14.647Z,1628952194.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:15.041Z,1628952195.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:15.445Z,1628952195.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,00374,187,80,80,6C,FF
2021-08-14T14:43:15.446Z,1628952195.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:15.524Z,1628952195.524 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:15.897Z,1628952195.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144316.37*5F

2021-08-14T14:43:15.924Z,1628952195.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 269.006126 deg, deltaT: 4.501341 s, approachRate: 0.546504 m/s, LOS rate: 0.308141 deg/s, posRepo size: 4
2021-08-14T14:43:18.338Z,1628952198.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:18.681Z,1628952198.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:18.681Z,1628952198.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:18.681Z,1628952198.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:18.682Z,1628952198.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:19.077Z,1628952199.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,00374,187,80,80,6C,FF
2021-08-14T14:43:19.077Z,1628952199.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:19.077Z,1628952199.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:19.079Z,1628952199.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:19.501Z,1628952199.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:19.894Z,1628952199.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00396,186,80,80,83,FF
2021-08-14T14:43:19.894Z,1628952199.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:19.914Z,1628952199.914 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:20.341Z,1628952200.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144320.80*56

2021-08-14T14:43:20.389Z,1628952200.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 268.126808 deg, deltaT: 4.390465 s, approachRate: 0.464643 m/s, LOS rate: -0.200279 deg/s, posRepo size: 4
2021-08-14T14:43:22.816Z,1628952202.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:23.117Z,1628952203.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:23.117Z,1628952203.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:23.117Z,1628952203.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:23.118Z,1628952203.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:23.533Z,1628952203.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00396,186,80,80,83,FF
2021-08-14T14:43:23.533Z,1628952203.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:23.533Z,1628952203.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:23.535Z,1628952203.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:23.937Z,1628952203.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:24.337Z,1628952204.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,003CA,186,80,80,88,FF
2021-08-14T14:43:24.338Z,1628952204.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:24.387Z,1628952204.387 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:24.785Z,1628952204.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144325.26*5F

2021-08-14T14:43:24.831Z,1628952204.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 272.416057 deg, deltaT: 4.472324 s, approachRate: 0.697624 m/s, LOS rate: 0.959065 deg/s, posRepo size: 4
2021-08-14T14:43:26.799Z,1628952206.799 [PowerOnly](INFO): Powering down loadControl
2021-08-14T14:43:27.231Z,1628952207.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:27.583Z,1628952207.583 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:27.583Z,1628952207.583 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:27.584Z,1628952207.584 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:27.585Z,1628952207.585 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:27.969Z,1628952207.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,003CA,186,80,80,88,FF
2021-08-14T14:43:27.969Z,1628952207.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:27.969Z,1628952207.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:27.971Z,1628952207.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:28.396Z,1628952208.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:28.777Z,1628952208.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,003E3,186,80,80,67,FF
2021-08-14T14:43:28.778Z,1628952208.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:28.863Z,1628952208.863 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:29.229Z,1628952209.229 [Micromodem](INFO): Nmea in: $SNTTA,0.036328,,,,144329.69*4A

2021-08-14T14:43:29.281Z,1628952209.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 273.830016 deg, deltaT: 4.476427 s, approachRate: 0.335088 m/s, LOS rate: 0.315868 deg/s, posRepo size: 4
2021-08-14T14:43:31.656Z,1628952211.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:32.001Z,1628952212.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:32.001Z,1628952212.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:32.001Z,1628952212.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:32.002Z,1628952212.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:32.407Z,1628952212.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,003E3,186,80,80,67,FF
2021-08-14T14:43:32.407Z,1628952212.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:32.407Z,1628952212.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:32.410Z,1628952212.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:32.886Z,1628952212.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:33.287Z,1628952213.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,0040D,187,80,80,61,FF
2021-08-14T14:43:33.287Z,1628952213.287 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:43:33.355Z,1628952213.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:43:33.706Z,1628952213.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144334.13*59

2021-08-14T14:43:33.743Z,1628952213.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 263.381083 deg, deltaT: 4.491523 s, approachRate: 0.561057 m/s, LOS rate: -2.326367 deg/s, posRepo size: 4
2021-08-14T14:43:36.132Z,1628952216.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:36.532Z,1628952216.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:36.533Z,1628952216.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:36.534Z,1628952216.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:36.535Z,1628952216.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:36.913Z,1628952216.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,0040D,187,80,80,61,FF
2021-08-14T14:43:36.913Z,1628952216.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:36.913Z,1628952216.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:36.915Z,1628952216.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:37.333Z,1628952217.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:38.154Z,1628952218.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144338.64*55

2021-08-14T14:43:39.011Z,1628952219.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:40.586Z,1628952220.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:40.587Z,1628952220.587 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:40.587Z,1628952220.587 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:43:41.815Z,1628952221.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:42.177Z,1628952222.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:42.177Z,1628952222.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:42.177Z,1628952222.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:42.178Z,1628952222.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:42.609Z,1628952222.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:42.609Z,1628952222.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:42.609Z,1628952222.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:42.611Z,1628952222.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:43.020Z,1628952223.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:43.821Z,1628952223.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144344.33*5C

2021-08-14T14:43:44.723Z,1628952224.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:46.239Z,1628952226.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:46.240Z,1628952226.240 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:46.240Z,1628952226.240 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:43:47.504Z,1628952227.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:47.838Z,1628952227.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:47.838Z,1628952227.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:47.838Z,1628952227.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:47.839Z,1628952227.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:48.245Z,1628952228.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:48.245Z,1628952228.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:48.246Z,1628952228.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:48.247Z,1628952228.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:48.668Z,1628952228.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:49.514Z,1628952229.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144349.97*5F

2021-08-14T14:43:50.306Z,1628952230.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:51.902Z,1628952231.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:51.903Z,1628952231.903 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:51.903Z,1628952231.903 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:43:53.109Z,1628952233.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:53.518Z,1628952233.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:53.518Z,1628952233.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:53.518Z,1628952233.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:53.519Z,1628952233.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:53.897Z,1628952233.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:53.897Z,1628952233.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:53.897Z,1628952233.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:53.899Z,1628952233.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:54.338Z,1628952234.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:43:55.143Z,1628952235.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144355.63*59

2021-08-14T14:43:55.994Z,1628952235.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:57.545Z,1628952237.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:57.545Z,1628952237.545 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:57.545Z,1628952237.545 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:43:58.837Z,1628952238.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:43:59.153Z,1628952239.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:43:59.153Z,1628952239.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:43:59.153Z,1628952239.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:43:59.154Z,1628952239.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:43:59.558Z,1628952239.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:43:59.558Z,1628952239.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:43:59.558Z,1628952239.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:43:59.559Z,1628952239.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:43:59.982Z,1628952239.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:00.779Z,1628952240.779 [Micromodem](INFO): Nmea in: $SNTTA,0.397875,0.397763,,,144401.28*58

2021-08-14T14:44:01.614Z,1628952241.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:03.189Z,1628952243.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:44:03.189Z,1628952243.189 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:44:03.189Z,1628952243.189 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:44:04.439Z,1628952244.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:04.805Z,1628952244.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:04.805Z,1628952244.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:04.805Z,1628952244.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:04.806Z,1628952244.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:05.209Z,1628952245.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,61,FF
2021-08-14T14:44:05.209Z,1628952245.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:05.210Z,1628952245.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:05.211Z,1628952245.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:05.621Z,1628952245.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:06.029Z,1628952246.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00565,189,80,80,94,FF
2021-08-14T14:44:06.029Z,1628952246.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:06.051Z,1628952246.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:44:06.481Z,1628952246.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144406.94*50

2021-08-14T14:44:06.589Z,1628952246.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 216.206496 deg, deltaT: 32.696184 s, approachRate: 0.631266 m/s, LOS rate: -1.442816 deg/s, posRepo size: 4
2021-08-14T14:44:06.887Z,1628952246.887 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:44:06.888Z,1628952246.888 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:44:06.889Z,1628952246.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:44:06.890Z,1628952246.890 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:44:06.891Z,1628952246.891 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:44:06.891Z,1628952246.891 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:44:07.263Z,1628952247.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:44:07.263Z,1628952247.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:44:07.263Z,1628952247.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:44:07.263Z,1628952247.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:44:08.908Z,1628952248.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:09.261Z,1628952249.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:09.261Z,1628952249.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:09.262Z,1628952249.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:09.262Z,1628952249.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:09.669Z,1628952249.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,00565,189,80,80,94,FF
2021-08-14T14:44:09.669Z,1628952249.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:09.669Z,1628952249.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:09.671Z,1628952249.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:10.073Z,1628952250.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:10.489Z,1628952250.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,0059B,188,80,80,53,FF
2021-08-14T14:44:10.490Z,1628952250.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:10.945Z,1628952250.945 [Micromodem](INFO): Nmea in: $SNTTA,0.050169,,,,144411.40*4A

2021-08-14T14:44:11.009Z,1628952251.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.599995 m, bearing: 281.539824 deg, deltaT: 4.525719 s, approachRate: 0.715907 m/s, LOS rate: 14.436011 deg/s, posRepo size: 4
2021-08-14T14:44:13.333Z,1628952253.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:13.698Z,1628952253.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:13.698Z,1628952253.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:13.698Z,1628952253.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:13.699Z,1628952253.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:14.106Z,1628952254.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,0059B,188,80,80,53,FF
2021-08-14T14:44:14.106Z,1628952254.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:14.106Z,1628952254.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:14.108Z,1628952254.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:14.516Z,1628952254.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:14.909Z,1628952254.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,005D1,186,80,80,59,FF
2021-08-14T14:44:14.909Z,1628952254.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:15.354Z,1628952255.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144415.83*54

2021-08-14T14:44:15.395Z,1628952255.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 233.328906 deg, deltaT: 4.410330 s, approachRate: 0.734641 m/s, LOS rate: -10.931363 deg/s, posRepo size: 4
2021-08-14T14:44:17.791Z,1628952257.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:18.141Z,1628952258.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:18.141Z,1628952258.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:18.141Z,1628952258.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:18.142Z,1628952258.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:18.586Z,1628952258.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,005D1,186,80,80,59,FF
2021-08-14T14:44:18.587Z,1628952258.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:18.587Z,1628952258.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:18.594Z,1628952258.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:18.965Z,1628952258.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:19.361Z,1628952259.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00602,184,80,80,59,FF
2021-08-14T14:44:19.362Z,1628952259.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:19.809Z,1628952259.809 [Micromodem](INFO): Nmea in: $SNTTA,0.069233,,,,144420.32*4B

2021-08-14T14:44:19.874Z,1628952259.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.779995 m, bearing: 247.678997 deg, deltaT: 4.483801 s, approachRate: 0.655692 m/s, LOS rate: 3.200430 deg/s, posRepo size: 4
2021-08-14T14:44:22.206Z,1628952262.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:22.627Z,1628952262.627 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:22.627Z,1628952262.627 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:22.627Z,1628952262.627 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:22.648Z,1628952262.648 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:23.015Z,1628952263.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00602,184,80,80,59,FF
2021-08-14T14:44:23.015Z,1628952263.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:23.016Z,1628952263.016 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:23.018Z,1628952263.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:23.417Z,1628952263.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:23.805Z,1628952263.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,0062E,186,80,80,73,FF
2021-08-14T14:44:23.806Z,1628952263.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:24.233Z,1628952264.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144424.74*5E

2021-08-14T14:44:24.270Z,1628952264.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.420006 m, bearing: 266.390300 deg, deltaT: 4.354363 s, approachRate: 0.606291 m/s, LOS rate: 4.297139 deg/s, posRepo size: 4
2021-08-14T14:44:26.713Z,1628952266.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:27.049Z,1628952267.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:27.049Z,1628952267.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:27.049Z,1628952267.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:27.050Z,1628952267.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:27.469Z,1628952267.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,0062E,186,80,80,73,FF
2021-08-14T14:44:27.469Z,1628952267.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:27.469Z,1628952267.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:27.471Z,1628952267.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:27.851Z,1628952267.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:28.258Z,1628952268.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,0065F,185,80,80,6D,FF
2021-08-14T14:44:28.258Z,1628952268.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:28.677Z,1628952268.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144429.20*52

2021-08-14T14:44:28.762Z,1628952268.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 267.617221 deg, deltaT: 4.458912 s, approachRate: 0.659354 m/s, LOS rate: 0.275161 deg/s, posRepo size: 4
2021-08-14T14:44:30.793Z,1628952270.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:31.085Z,1628952271.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:31.085Z,1628952271.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:31.085Z,1628952271.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:31.086Z,1628952271.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:31.519Z,1628952271.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,0065F,185,80,80,6D,FF
2021-08-14T14:44:31.519Z,1628952271.519 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:31.519Z,1628952271.519 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:31.521Z,1628952271.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:31.892Z,1628952271.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:32.293Z,1628952272.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00686,186,80,80,5D,FF
2021-08-14T14:44:32.293Z,1628952272.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:32.722Z,1628952272.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144433.25*5C

2021-08-14T14:44:32.785Z,1628952272.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 271.369645 deg, deltaT: 4.029053 s, approachRate: 0.580780 m/s, LOS rate: 0.931341 deg/s, posRepo size: 4
2021-08-14T14:44:35.158Z,1628952275.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:35.529Z,1628952275.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:35.529Z,1628952275.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:35.529Z,1628952275.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:35.530Z,1628952275.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:35.948Z,1628952275.948 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00686,186,80,80,5D,FF
2021-08-14T14:44:35.950Z,1628952275.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:35.950Z,1628952275.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:35.952Z,1628952275.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:36.341Z,1628952276.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:36.737Z,1628952276.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,006BD,186,80,80,79,FF
2021-08-14T14:44:36.738Z,1628952276.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:37.169Z,1628952277.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144437.68*51

2021-08-14T14:44:37.213Z,1628952277.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 264.154752 deg, deltaT: 4.514455 s, approachRate: 0.730985 m/s, LOS rate: -1.598176 deg/s, posRepo size: 4
2021-08-14T14:44:39.607Z,1628952279.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:39.977Z,1628952279.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:39.977Z,1628952279.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:39.977Z,1628952279.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:39.978Z,1628952279.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:40.379Z,1628952280.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,006BD,186,80,80,79,FF
2021-08-14T14:44:40.379Z,1628952280.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:40.379Z,1628952280.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:40.381Z,1628952280.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:40.784Z,1628952280.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:41.185Z,1628952281.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,006EE,185,80,80,8F,FF
2021-08-14T14:44:41.185Z,1628952281.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:41.621Z,1628952281.621 [Micromodem](INFO): Nmea in: $SNTTA,0.051931,,,,144442.11*4C

2021-08-14T14:44:41.664Z,1628952281.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.940002 m, bearing: 267.583097 deg, deltaT: 4.377365 s, approachRate: 0.671637 m/s, LOS rate: 0.783198 deg/s, posRepo size: 4
2021-08-14T14:44:44.051Z,1628952284.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:44.421Z,1628952284.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:44.421Z,1628952284.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:44.421Z,1628952284.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:44.422Z,1628952284.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:44.817Z,1628952284.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,006EE,185,80,80,8F,FF
2021-08-14T14:44:44.817Z,1628952284.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:44.817Z,1628952284.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:44.819Z,1628952284.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:45.225Z,1628952285.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:45.657Z,1628952285.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,0071F,187,80,80,99,FF
2021-08-14T14:44:45.657Z,1628952285.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:46.074Z,1628952286.074 [Micromodem](INFO): Nmea in: $SNTTA,0.075168,,,,144446.54*4B

2021-08-14T14:44:46.099Z,1628952286.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.880005 m, bearing: 266.899423 deg, deltaT: 4.555029 s, approachRate: 0.645441 m/s, LOS rate: -0.150092 deg/s, posRepo size: 4
2021-08-14T14:44:48.511Z,1628952288.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:48.861Z,1628952288.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:48.861Z,1628952288.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:48.861Z,1628952288.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:48.862Z,1628952288.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:49.273Z,1628952289.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,0071F,187,80,80,99,FF
2021-08-14T14:44:49.273Z,1628952289.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:49.273Z,1628952289.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:49.275Z,1628952289.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:49.668Z,1628952289.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:50.069Z,1628952290.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00752,186,80,80,6A,FF
2021-08-14T14:44:50.069Z,1628952290.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:50.530Z,1628952290.530 [Micromodem](INFO): Nmea in: $SNTTA,0.056617,,,,144451.00*42

2021-08-14T14:44:50.634Z,1628952290.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 256.701786 deg, deltaT: 4.329133 s, approachRate: 0.706838 m/s, LOS rate: -2.355584 deg/s, posRepo size: 4
2021-08-14T14:44:52.628Z,1628952292.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:52.893Z,1628952292.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:52.893Z,1628952292.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:52.893Z,1628952292.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:52.894Z,1628952292.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:53.313Z,1628952293.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00752,186,80,80,6A,FF
2021-08-14T14:44:53.313Z,1628952293.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:53.313Z,1628952293.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:53.315Z,1628952293.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:53.723Z,1628952293.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:54.114Z,1628952294.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,0077B,186,80,80,75,FF
2021-08-14T14:44:54.114Z,1628952294.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:54.570Z,1628952294.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144455.04*5F

2021-08-14T14:44:54.650Z,1628952294.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.400002 m, bearing: 262.076544 deg, deltaT: 4.082936 s, approachRate: 0.602507 m/s, LOS rate: 1.316395 deg/s, posRepo size: 4
2021-08-14T14:44:56.979Z,1628952296.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:44:57.345Z,1628952297.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:44:57.345Z,1628952297.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:44:57.345Z,1628952297.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:44:57.346Z,1628952297.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:44:57.749Z,1628952297.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,0077B,186,80,80,75,FF
2021-08-14T14:44:57.749Z,1628952297.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:44:57.750Z,1628952297.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:44:57.751Z,1628952297.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:44:58.152Z,1628952298.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:44:58.593Z,1628952298.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,007AD,186,80,80,87,FF
2021-08-14T14:44:58.593Z,1628952298.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:44:58.989Z,1628952298.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144459.48*5B

2021-08-14T14:44:59.027Z,1628952299.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 266.005952 deg, deltaT: 4.507219 s, approachRate: 0.665597 m/s, LOS rate: 0.871803 deg/s, posRepo size: 4
2021-08-14T14:45:01.424Z,1628952301.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:01.793Z,1628952301.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:01.793Z,1628952301.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:01.793Z,1628952301.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:01.794Z,1628952301.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:02.202Z,1628952302.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,007AD,186,80,80,87,FF
2021-08-14T14:45:02.203Z,1628952302.203 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:02.203Z,1628952302.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:02.206Z,1628952302.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:02.632Z,1628952302.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:03.426Z,1628952303.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144503.93*53

2021-08-14T14:45:04.255Z,1628952304.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:05.848Z,1628952305.848 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,87,FF
2021-08-14T14:45:05.849Z,1628952305.849 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,87,FF
2021-08-14T14:45:05.849Z,1628952305.849 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:45:07.071Z,1628952307.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:07.479Z,1628952307.479 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:07.479Z,1628952307.479 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:07.479Z,1628952307.479 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:07.480Z,1628952307.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:07.849Z,1628952307.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,87,FF
2021-08-14T14:45:07.849Z,1628952307.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:07.849Z,1628952307.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:07.851Z,1628952307.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:08.276Z,1628952308.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:08.677Z,1628952308.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00824,186,80,80,9B,FF
2021-08-14T14:45:08.677Z,1628952308.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:08.709Z,1628952308.709 [Micromodem](INFO): Nmea in: $SNTTA,0.079334,0.292638,,,144509.58*50

2021-08-14T14:45:09.115Z,1628952309.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.540001 m, bearing: 265.494917 deg, deltaT: 10.099880 s, approachRate: 0.706940 m/s, LOS rate: -0.050598 deg/s, posRepo size: 4
2021-08-14T14:45:11.541Z,1628952311.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:11.897Z,1628952311.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:11.897Z,1628952311.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:11.897Z,1628952311.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:11.898Z,1628952311.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:12.295Z,1628952312.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00824,186,80,80,9B,FF
2021-08-14T14:45:12.295Z,1628952312.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:12.295Z,1628952312.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:12.299Z,1628952312.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:12.699Z,1628952312.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:13.097Z,1628952313.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,00854,186,80,80,97,FF
2021-08-14T14:45:13.098Z,1628952313.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:13.550Z,1628952313.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144514.02*5D

2021-08-14T14:45:13.577Z,1628952313.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.420006 m, bearing: 266.897155 deg, deltaT: 4.374063 s, approachRate: 0.658428 m/s, LOS rate: 0.320580 deg/s, posRepo size: 4
2021-08-14T14:45:15.983Z,1628952315.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:16.330Z,1628952316.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:16.330Z,1628952316.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:16.330Z,1628952316.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:16.331Z,1628952316.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:16.745Z,1628952316.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,00854,186,80,80,97,FF
2021-08-14T14:45:16.745Z,1628952316.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:16.745Z,1628952316.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:16.747Z,1628952316.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:17.143Z,1628952317.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:17.541Z,1628952317.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00885,186,80,80,6A,FF
2021-08-14T14:45:17.541Z,1628952317.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:17.986Z,1628952317.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144518.47*50

2021-08-14T14:45:18.020Z,1628952318.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.360008 m, bearing: 266.181788 deg, deltaT: 4.418845 s, approachRate: 0.665333 m/s, LOS rate: -0.161890 deg/s, posRepo size: 4
2021-08-14T14:45:20.438Z,1628952320.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:20.773Z,1628952320.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:20.773Z,1628952320.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:20.773Z,1628952320.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:20.774Z,1628952320.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:21.187Z,1628952321.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00885,186,80,80,6A,FF
2021-08-14T14:45:21.187Z,1628952321.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:21.187Z,1628952321.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:21.191Z,1628952321.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:21.589Z,1628952321.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:21.985Z,1628952321.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,008B8,186,80,80,69,FF
2021-08-14T14:45:21.986Z,1628952321.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:22.420Z,1628952322.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144522.92*51

2021-08-14T14:45:22.483Z,1628952322.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.420006 m, bearing: 265.337796 deg, deltaT: 4.442465 s, approachRate: 0.688806 m/s, LOS rate: -0.189983 deg/s, posRepo size: 4
2021-08-14T14:45:24.875Z,1628952324.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:25.225Z,1628952325.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:25.225Z,1628952325.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:25.225Z,1628952325.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:25.226Z,1628952325.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:25.740Z,1628952325.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,008B8,186,80,80,69,FF
2021-08-14T14:45:25.740Z,1628952325.740 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:25.741Z,1628952325.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:25.742Z,1628952325.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:26.102Z,1628952326.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:26.513Z,1628952326.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,008EA,186,80,80,75,FF
2021-08-14T14:45:26.514Z,1628952326.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:26.919Z,1628952326.919 [Micromodem](INFO): Nmea in: $SNTTA,,0.345852,,,144527.47*4F

2021-08-14T14:45:26.991Z,1628952326.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.419998 m, bearing: 269.184531 deg, deltaT: 4.613757 s, approachRate: 0.650228 m/s, LOS rate: 0.833753 deg/s, posRepo size: 4
2021-08-14T14:45:29.394Z,1628952329.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:29.726Z,1628952329.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:29.727Z,1628952329.727 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:29.727Z,1628952329.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:29.728Z,1628952329.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:30.135Z,1628952330.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,008EA,186,80,80,75,FF
2021-08-14T14:45:30.135Z,1628952330.135 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:30.135Z,1628952330.135 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:30.138Z,1628952330.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:30.573Z,1628952330.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:30.938Z,1628952330.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0091D,186,80,80,88,FF
2021-08-14T14:45:30.939Z,1628952330.939 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:30.944Z,1628952330.944 [Micromodem](INFO): Nmea in: $SNTTA,0.146894,0.147212,,,144531.87*52

2021-08-14T14:45:31.381Z,1628952331.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.479996 m, bearing: 272.600035 deg, deltaT: 4.408938 s, approachRate: 0.694044 m/s, LOS rate: 0.774677 deg/s, posRepo size: 4
2021-08-14T14:45:33.815Z,1628952333.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:34.167Z,1628952334.167 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:34.167Z,1628952334.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:34.167Z,1628952334.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:34.168Z,1628952334.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:34.601Z,1628952334.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0091D,186,80,80,88,FF
2021-08-14T14:45:34.601Z,1628952334.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:34.601Z,1628952334.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:34.603Z,1628952334.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:34.991Z,1628952334.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:35.385Z,1628952335.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,0094E,186,80,80,9A,FF
2021-08-14T14:45:35.386Z,1628952335.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:35.806Z,1628952335.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144536.33*5F

2021-08-14T14:45:35.868Z,1628952335.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.419998 m, bearing: 274.570873 deg, deltaT: 4.367974 s, approachRate: 0.673082 m/s, LOS rate: 0.451202 deg/s, posRepo size: 4
2021-08-14T14:45:38.273Z,1628952338.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:38.629Z,1628952338.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:38.629Z,1628952338.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:38.629Z,1628952338.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:38.630Z,1628952338.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:39.022Z,1628952339.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,0094E,186,80,80,9A,FF
2021-08-14T14:45:39.022Z,1628952339.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:39.022Z,1628952339.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:39.024Z,1628952339.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:39.421Z,1628952339.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:39.821Z,1628952339.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00983,186,80,80,85,FF
2021-08-14T14:45:39.822Z,1628952339.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:40.249Z,1628952340.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144540.75*5C

2021-08-14T14:45:40.271Z,1628952340.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.600006 m, bearing: 276.844014 deg, deltaT: 4.446476 s, approachRate: 0.715175 m/s, LOS rate: 0.511223 deg/s, posRepo size: 4
2021-08-14T14:45:42.715Z,1628952342.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:43.049Z,1628952343.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:43.049Z,1628952343.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:43.049Z,1628952343.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:43.050Z,1628952343.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:43.473Z,1628952343.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00983,186,80,80,85,FF
2021-08-14T14:45:43.473Z,1628952343.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:43.473Z,1628952343.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:43.475Z,1628952343.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:43.865Z,1628952343.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:44.265Z,1628952344.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,009B0,187,80,80,9D,FF
2021-08-14T14:45:44.266Z,1628952344.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:45:44.694Z,1628952344.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144545.20*59

2021-08-14T14:45:44.806Z,1628952344.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 273.364634 deg, deltaT: 4.527625 s, approachRate: 0.596338 m/s, LOS rate: -0.768478 deg/s, posRepo size: 4
2021-08-14T14:45:47.132Z,1628952347.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:47.513Z,1628952347.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:47.513Z,1628952347.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:47.513Z,1628952347.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:47.514Z,1628952347.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:47.901Z,1628952347.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,009B0,187,80,80,9D,FF
2021-08-14T14:45:47.902Z,1628952347.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:47.902Z,1628952347.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:47.904Z,1628952347.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:48.305Z,1628952348.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:49.134Z,1628952349.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144549.63*52

2021-08-14T14:45:49.935Z,1628952349.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:51.533Z,1628952351.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,9D,FF
2021-08-14T14:45:51.534Z,1628952351.534 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,9D,FF
2021-08-14T14:45:51.534Z,1628952351.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:45:52.806Z,1628952352.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:53.153Z,1628952353.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:53.153Z,1628952353.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:53.153Z,1628952353.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:53.154Z,1628952353.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:53.558Z,1628952353.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,9D,FF
2021-08-14T14:45:53.558Z,1628952353.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:53.558Z,1628952353.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:53.560Z,1628952353.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:53.960Z,1628952353.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:45:54.775Z,1628952354.775 [Micromodem](INFO): Nmea in: $SNTTA,0.437420,0.437539,,,144555.28*59

2021-08-14T14:45:55.618Z,1628952355.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:57.193Z,1628952357.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,9D,FF
2021-08-14T14:45:57.193Z,1628952357.193 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,9D,FF
2021-08-14T14:45:57.194Z,1628952357.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:45:58.482Z,1628952358.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:45:58.813Z,1628952358.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:45:58.813Z,1628952358.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:45:58.813Z,1628952358.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:45:58.814Z,1628952358.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:45:59.209Z,1628952359.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,9D,FF
2021-08-14T14:45:59.209Z,1628952359.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:45:59.210Z,1628952359.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:45:59.211Z,1628952359.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:45:59.616Z,1628952359.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:00.029Z,1628952360.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00A66,186,80,80,88,FF
2021-08-14T14:46:00.029Z,1628952360.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:00.469Z,1628952360.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144600.94*54

2021-08-14T14:46:00.513Z,1628952360.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.220009 m, bearing: 270.841234 deg, deltaT: 15.693971 s, approachRate: 0.695809 m/s, LOS rate: -0.160788 deg/s, posRepo size: 4
2021-08-14T14:46:02.858Z,1628952362.858 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:46:02.890Z,1628952362.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:03.258Z,1628952363.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:03.258Z,1628952363.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:03.258Z,1628952363.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:03.259Z,1628952363.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:03.653Z,1628952363.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00A66,186,80,80,88,FF
2021-08-14T14:46:03.653Z,1628952363.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:03.654Z,1628952363.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:03.655Z,1628952363.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:04.069Z,1628952364.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:04.501Z,1628952364.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,00A9B,186,80,80,6A,FF
2021-08-14T14:46:04.501Z,1628952364.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:04.905Z,1628952364.905 [Micromodem](INFO): Nmea in: $SNTTA,,0.349936,,,144605.38*4B

2021-08-14T14:46:04.957Z,1628952364.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.400002 m, bearing: 274.485113 deg, deltaT: 4.535283 s, approachRate: 0.701167 m/s, LOS rate: 0.803451 deg/s, posRepo size: 4
2021-08-14T14:46:07.307Z,1628952367.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:07.694Z,1628952367.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:07.694Z,1628952367.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:07.694Z,1628952367.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:07.695Z,1628952367.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:08.097Z,1628952368.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,00A9B,186,80,80,6A,FF
2021-08-14T14:46:08.097Z,1628952368.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:08.097Z,1628952368.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:08.099Z,1628952368.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:08.570Z,1628952368.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:08.933Z,1628952368.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00ACC,186,80,80,92,FF
2021-08-14T14:46:08.933Z,1628952368.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:08.937Z,1628952368.937 [Micromodem](INFO): Nmea in: $SNTTA,0.166495,0.166445,,,144609.83*56

2021-08-14T14:46:09.364Z,1628952369.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.339996 m, bearing: 271.085973 deg, deltaT: 4.346382 s, approachRate: 0.676423 m/s, LOS rate: -0.782062 deg/s, posRepo size: 4
2021-08-14T14:46:11.785Z,1628952371.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:12.149Z,1628952372.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:12.149Z,1628952372.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:12.149Z,1628952372.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:12.150Z,1628952372.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:12.593Z,1628952372.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00ACC,186,80,80,92,FF
2021-08-14T14:46:12.593Z,1628952372.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:12.593Z,1628952372.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:12.595Z,1628952372.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:12.983Z,1628952372.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:13.381Z,1628952373.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00AF8,186,80,80,80,FF
2021-08-14T14:46:13.382Z,1628952373.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:13.813Z,1628952373.813 [Micromodem](INFO): Nmea in: $SNTTA,0.089647,,,,144614.32*47

2021-08-14T14:46:13.847Z,1628952373.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.979996 m, bearing: 271.267383 deg, deltaT: 4.524684 s, approachRate: 0.583466 m/s, LOS rate: 0.040093 deg/s, posRepo size: 4
2021-08-14T14:46:16.239Z,1628952376.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:16.637Z,1628952376.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:16.637Z,1628952376.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:16.637Z,1628952376.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:16.638Z,1628952376.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:17.013Z,1628952377.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00AF8,186,80,80,80,FF
2021-08-14T14:46:17.013Z,1628952377.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:17.013Z,1628952377.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:17.015Z,1628952377.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:17.458Z,1628952377.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:17.829Z,1628952377.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00B24,185,80,80,7F,FF
2021-08-14T14:46:17.829Z,1628952377.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:18.262Z,1628952378.262 [Micromodem](INFO): Nmea in: $SNTTA,0.090877,,,,144618.74*4C

2021-08-14T14:46:18.278Z,1628952378.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.619995 m, bearing: 267.964741 deg, deltaT: 4.405784 s, approachRate: 0.599212 m/s, LOS rate: -0.749615 deg/s, posRepo size: 4
2021-08-14T14:46:20.742Z,1628952380.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:21.081Z,1628952381.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:21.082Z,1628952381.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:21.082Z,1628952381.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:21.083Z,1628952381.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:21.473Z,1628952381.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00B24,185,80,80,7F,FF
2021-08-14T14:46:21.473Z,1628952381.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:21.473Z,1628952381.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:21.475Z,1628952381.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:21.865Z,1628952381.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:22.700Z,1628952382.700 [Micromodem](INFO): Nmea in: $SNTTA,0.092829,0.478683,,,144623.20*54

2021-08-14T14:46:23.541Z,1628952383.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:24.294Z,1628952384.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,06B75,186,80,80,9C,FF
2021-08-14T14:46:24.295Z,1628952384.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:24.801Z,1628952384.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1613.040039 m, bearing: 264.351188 deg, deltaT: 6.429027 s, approachRate: 230.115692 m/s, LOS rate: -0.562068 deg/s, posRepo size: 4
2021-08-14T14:46:24.801Z,1628952384.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1613.04 m. Resuming terminal guidance.
2021-08-14T14:46:24.801Z,1628952384.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T14:46:27.135Z,1628952387.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:27.517Z,1628952387.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:27.517Z,1628952387.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:27.517Z,1628952387.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:27.518Z,1628952387.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:27.925Z,1628952387.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,06B75,186,80,80,9C,FF
2021-08-14T14:46:27.925Z,1628952387.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:27.926Z,1628952387.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:27.927Z,1628952387.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:28.337Z,1628952388.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:29.162Z,1628952389.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144629.66*52

2021-08-14T14:46:29.978Z,1628952389.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:31.557Z,1628952391.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,9C,FF
2021-08-14T14:46:31.557Z,1628952391.557 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,9C,FF
2021-08-14T14:46:31.557Z,1628952391.557 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:46:32.853Z,1628952392.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:33.173Z,1628952393.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:33.173Z,1628952393.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:33.173Z,1628952393.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:33.174Z,1628952393.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:33.581Z,1628952393.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,9C,FF
2021-08-14T14:46:33.581Z,1628952393.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:33.581Z,1628952393.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:33.583Z,1628952393.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:33.990Z,1628952393.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:34.398Z,1628952394.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00BD8,187,80,80,85,FF
2021-08-14T14:46:34.398Z,1628952394.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:34.826Z,1628952394.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144635.31*5D

2021-08-14T14:46:34.894Z,1628952394.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.419998 m, bearing: 260.446397 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T14:46:34.894Z,1628952394.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 260.446397deg and heading rate command to 0 deg/s.
2021-08-14T14:46:37.239Z,1628952397.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:37.625Z,1628952397.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:37.625Z,1628952397.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:37.625Z,1628952397.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:37.626Z,1628952397.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:38.033Z,1628952398.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00BD8,187,80,80,85,FF
2021-08-14T14:46:38.033Z,1628952398.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:38.033Z,1628952398.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:38.035Z,1628952398.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:38.466Z,1628952398.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:38.835Z,1628952398.835 [Micromodem](INFO): Nmea in: $SNTTA,0.100613,0.199388,,,144639.76*55

2021-08-14T14:46:40.085Z,1628952400.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:41.669Z,1628952401.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,85,FF
2021-08-14T14:46:41.669Z,1628952401.669 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,85,FF
2021-08-14T14:46:41.669Z,1628952401.669 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:46:42.616Z,1628952402.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:42.873Z,1628952402.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:42.873Z,1628952402.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:42.873Z,1628952402.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:42.874Z,1628952402.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:43.293Z,1628952403.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,85,FF
2021-08-14T14:46:43.293Z,1628952403.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:43.293Z,1628952403.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:43.295Z,1628952403.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:43.701Z,1628952403.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:44.106Z,1628952404.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00C3A,186,80,80,73,FF
2021-08-14T14:46:44.106Z,1628952404.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:44.553Z,1628952404.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144645.02*5A

2021-08-14T14:46:44.634Z,1628952404.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.300003 m, bearing: 254.323870 deg, deltaT: 9.701540 s, approachRate: 0.606090 m/s, LOS rate: -0.631088 deg/s, posRepo size: 2
2021-08-14T14:46:44.641Z,1628952404.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.300003 m,
      bearing: 254.323870 deg,
      approachRate: 0.606090 m/s,
      LOS rate: -0.631088 deg/s,
      cmd update: -1.893264 deg/s,
      cmd heading: 260.446397 deg,
      new cmd heading: 260.446397 deg.

2021-08-14T14:46:46.635Z,1628952406.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:46.925Z,1628952406.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:46.925Z,1628952406.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:46.925Z,1628952406.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:46.926Z,1628952406.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:47.337Z,1628952407.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00C3A,186,80,80,73,FF
2021-08-14T14:46:47.337Z,1628952407.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:47.337Z,1628952407.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:47.339Z,1628952407.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:47.738Z,1628952407.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:48.147Z,1628952408.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00C66,186,80,80,73,FF
2021-08-14T14:46:48.148Z,1628952408.148 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:48.552Z,1628952408.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144649.07*53

2021-08-14T14:46:48.642Z,1628952408.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.939987 m, bearing: 267.114246 deg, deltaT: 4.043885 s, approachRate: 0.652834 m/s, LOS rate: 3.162893 deg/s, posRepo size: 3
2021-08-14T14:46:48.651Z,1628952408.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.939987 m,
      bearing: 267.114246 deg,
      approachRate: 0.652834 m/s,
      LOS rate: 3.162893 deg/s,
      cmd update: 9.488679 deg/s,
      cmd heading: 252.790285 deg,
      new cmd heading: 251.902496 deg.

2021-08-14T14:46:50.682Z,1628952410.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:50.957Z,1628952410.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:50.957Z,1628952410.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:50.958Z,1628952410.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:50.959Z,1628952410.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:51.370Z,1628952411.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00C66,186,80,80,73,FF
2021-08-14T14:46:51.370Z,1628952411.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:51.371Z,1628952411.371 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:51.397Z,1628952411.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:51.781Z,1628952411.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:52.174Z,1628952412.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00C66,186,80,80,73,FF
2021-08-14T14:46:52.175Z,1628952412.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:52.637Z,1628952412.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144653.12*5C

2021-08-14T14:46:52.723Z,1628952412.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.939987 m, bearing: 262.644515 deg, deltaT: 4.032126 s, approachRate: 0.000000 m/s, LOS rate: -1.108529 deg/s, posRepo size: 4
2021-08-14T14:46:52.737Z,1628952412.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.939987 m,
      bearing: 262.644515 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.108529 deg/s,
      cmd update: -3.325588 deg/s,
      cmd heading: 291.035288 deg,
      new cmd heading: 296.011920 deg.

2021-08-14T14:46:54.739Z,1628952414.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:55.001Z,1628952415.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:55.001Z,1628952415.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:55.002Z,1628952415.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:55.003Z,1628952415.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:55.401Z,1628952415.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00C66,186,80,80,73,FF
2021-08-14T14:46:55.402Z,1628952415.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:55.402Z,1628952415.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:55.405Z,1628952415.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:55.808Z,1628952415.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:46:56.214Z,1628952416.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00CC8,187,80,80,73,FF
2021-08-14T14:46:56.215Z,1628952416.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:46:56.653Z,1628952416.653 [Micromodem](INFO): Nmea in: $SNTTA,0.472591,0.473454,,,144657.13*50

2021-08-14T14:46:56.755Z,1628952416.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.819992 m, bearing: 285.734817 deg, deltaT: 4.065123 s, approachRate: 1.446452 m/s, LOS rate: 5.680099 deg/s, posRepo size: 4
2021-08-14T14:46:56.762Z,1628952416.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.819992 m,
      bearing: 285.734817 deg,
      approachRate: 1.446452 m/s,
      LOS rate: 5.680099 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.538687 deg,
      new cmd heading: 275.878792 deg.

2021-08-14T14:46:58.769Z,1628952418.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:46:59.041Z,1628952419.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:46:59.041Z,1628952419.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:46:59.042Z,1628952419.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:46:59.042Z,1628952419.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:46:59.445Z,1628952419.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00CC8,187,80,80,73,FF
2021-08-14T14:46:59.445Z,1628952419.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:46:59.446Z,1628952419.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:46:59.469Z,1628952419.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:46:59.849Z,1628952419.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:00.260Z,1628952420.260 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,00CC8,187,80,80,73,FF
2021-08-14T14:47:00.261Z,1628952420.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:00.698Z,1628952420.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144701.20*5B

2021-08-14T14:47:00.764Z,1628952420.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.819992 m, bearing: 292.754393 deg, deltaT: 4.025890 s, approachRate: 0.000000 m/s, LOS rate: 1.743609 deg/s, posRepo size: 4
2021-08-14T14:47:00.766Z,1628952420.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.819992 m,
      bearing: 292.754393 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.743609 deg/s,
      cmd update: 5.230826 deg/s,
      cmd heading: 325.917445 deg,
      new cmd heading: 331.633225 deg.

2021-08-14T14:47:03.109Z,1628952423.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:03.518Z,1628952423.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:03.518Z,1628952423.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:03.519Z,1628952423.519 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:03.520Z,1628952423.520 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:03.885Z,1628952423.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,00CC8,187,80,80,73,FF
2021-08-14T14:47:03.885Z,1628952423.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:03.885Z,1628952423.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:03.887Z,1628952423.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:04.302Z,1628952424.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:04.702Z,1628952424.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00D02,187,80,80,73,FF
2021-08-14T14:47:04.702Z,1628952424.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:05.142Z,1628952425.142 [Micromodem](INFO): Nmea in: $SNTTA,0.110126,,,,144705.61*41

2021-08-14T14:47:05.193Z,1628952425.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 302.639453 deg, deltaT: 4.526692 s, approachRate: 0.768776 m/s, LOS rate: 2.183727 deg/s, posRepo size: 4
2021-08-14T14:47:05.195Z,1628952425.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.300003 m,
      bearing: 302.639453 deg,
      approachRate: 0.768776 m/s,
      LOS rate: 2.183727 deg/s,
      cmd update: 6.551181 deg/s,
      cmd heading: 349.565152 deg,
      new cmd heading: 351.551663 deg.

2021-08-14T14:47:07.554Z,1628952427.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:07.934Z,1628952427.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:07.934Z,1628952427.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:07.934Z,1628952427.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:07.935Z,1628952427.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:08.333Z,1628952428.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00D02,187,80,80,73,FF
2021-08-14T14:47:08.333Z,1628952428.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:08.333Z,1628952428.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:08.335Z,1628952428.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:08.750Z,1628952428.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:09.137Z,1628952429.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00D02,187,80,80,73,FF
2021-08-14T14:47:09.138Z,1628952429.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:09.585Z,1628952429.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 284.968606 deg, deltaT: 4.343854 s, approachRate: 0.000000 m/s, LOS rate: -4.068011 deg/s, posRepo size: 4
2021-08-14T14:47:09.587Z,1628952429.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.300003 m,
      bearing: 284.968606 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.068011 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 18.067152 deg,
      new cmd heading: 20.855597 deg.

2021-08-14T14:47:11.987Z,1628952431.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:12.373Z,1628952432.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:12.373Z,1628952432.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:12.374Z,1628952432.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:12.375Z,1628952432.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:12.781Z,1628952432.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00D02,187,80,80,73,FF
2021-08-14T14:47:12.781Z,1628952432.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:12.781Z,1628952432.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:12.783Z,1628952432.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:13.181Z,1628952433.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:13.590Z,1628952433.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00D22,187,80,80,73,FF
2021-08-14T14:47:13.590Z,1628952433.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:14.025Z,1628952434.025 [Micromodem](INFO): Nmea in: $SNTTA,0.111414,,,,144714.51*47

2021-08-14T14:47:14.078Z,1628952434.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.220001 m, bearing: 359.696149 deg, deltaT: 4.462352 s, approachRate: 0.430266 m/s, LOS rate: 16.746224 deg/s, posRepo size: 4
2021-08-14T14:47:14.079Z,1628952434.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.746224 deg/s. Setting heading cmd to target bearing of 359.696149deg and heading rate command to 0 deg/s.
2021-08-14T14:47:16.485Z,1628952436.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:16.832Z,1628952436.832 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:16.832Z,1628952436.832 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:16.832Z,1628952436.832 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:16.833Z,1628952436.833 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:17.221Z,1628952437.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00D22,187,80,80,73,FF
2021-08-14T14:47:17.221Z,1628952437.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:17.221Z,1628952437.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:17.223Z,1628952437.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:17.629Z,1628952437.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:18.041Z,1628952438.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00D1C,189,80,80,73,FF
2021-08-14T14:47:18.041Z,1628952438.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:18.481Z,1628952438.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144718.95*5D

2021-08-14T14:47:18.517Z,1628952438.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.860001 m, bearing: 55.825035 deg, deltaT: 4.459664 s, approachRate: -0.080724 m/s, LOS rate: 12.585897 deg/s, posRepo size: 4
2021-08-14T14:47:18.517Z,1628952438.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.585897 deg/s. Setting heading cmd to target bearing of 55.825035deg and heading rate command to 0 deg/s.
2021-08-14T14:47:20.965Z,1628952440.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:21.261Z,1628952441.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:21.262Z,1628952441.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:21.262Z,1628952441.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:21.263Z,1628952441.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:21.661Z,1628952441.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00D1C,189,80,80,73,FF
2021-08-14T14:47:21.661Z,1628952441.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:21.661Z,1628952441.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:21.663Z,1628952441.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:22.073Z,1628952442.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:22.507Z,1628952442.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00D0F,189,80,80,9C,FF
2021-08-14T14:47:22.507Z,1628952442.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:22.557Z,1628952442.557 [Micromodem](INFO): Nmea in: $SNTTA,0.113177,0.343474,,,144723.39*52

2021-08-14T14:47:22.920Z,1628952442.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.080002 m, bearing: 63.707640 deg, deltaT: 4.578963 s, approachRate: -0.170344 m/s, LOS rate: 1.721483 deg/s, posRepo size: 4
2021-08-14T14:47:22.922Z,1628952442.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.080002 m,
      bearing: 63.707640 deg,
      approachRate: -0.170344 m/s,
      LOS rate: 1.721483 deg/s,
      cmd update: 5.164448 deg/s,
      cmd heading: 55.825035 deg,
      new cmd heading: 55.825035 deg.

2021-08-14T14:47:25.318Z,1628952445.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:25.710Z,1628952445.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:25.710Z,1628952445.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:25.710Z,1628952445.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:25.711Z,1628952445.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:26.133Z,1628952446.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00D0F,189,80,80,9C,FF
2021-08-14T14:47:26.133Z,1628952446.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:26.133Z,1628952446.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:26.135Z,1628952446.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:26.536Z,1628952446.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:26.921Z,1628952446.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFD,000,00D0F,189,80,80,9C,FF
2021-08-14T14:47:26.921Z,1628952446.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:27.354Z,1628952447.354 [Micromodem](INFO): Nmea in: $SNTTA,0.109949,,,,144727.86*41

2021-08-14T14:47:27.396Z,1628952447.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.080002 m, bearing: 66.947103 deg, deltaT: 4.327432 s, approachRate: 0.000000 m/s, LOS rate: 0.748588 deg/s, posRepo size: 4
2021-08-14T14:47:27.398Z,1628952447.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.080002 m,
      bearing: 66.947103 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.748588 deg/s,
      cmd update: 2.245764 deg/s,
      cmd heading: 78.175959 deg,
      new cmd heading: 80.192340 deg.

2021-08-14T14:47:29.781Z,1628952449.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:30.145Z,1628952450.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:30.145Z,1628952450.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:30.145Z,1628952450.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:30.146Z,1628952450.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:30.587Z,1628952450.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFD,000,00D0F,189,80,80,9C,FF
2021-08-14T14:47:30.587Z,1628952450.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:30.587Z,1628952450.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:30.589Z,1628952450.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:30.981Z,1628952450.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:31.389Z,1628952451.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,00CDF,189,80,80,9C,FF
2021-08-14T14:47:31.390Z,1628952451.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:31.821Z,1628952451.821 [Micromodem](INFO): Nmea in: $SNTTA,0.108742,,,,144732.32*4E

2021-08-14T14:47:31.859Z,1628952451.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.199997 m, bearing: 71.685533 deg, deltaT: 4.426565 s, approachRate: -0.650618 m/s, LOS rate: 1.070453 deg/s, posRepo size: 4
2021-08-14T14:47:31.865Z,1628952451.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 71.685533 deg,
      approachRate: -0.650618 m/s,
      LOS rate: 1.070453 deg/s,
      cmd update: 3.211359 deg/s,
      cmd heading: 88.114451 deg,
      new cmd heading: 89.119904 deg.

2021-08-14T14:47:34.222Z,1628952454.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:34.633Z,1628952454.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:34.633Z,1628952454.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:34.633Z,1628952454.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:34.634Z,1628952454.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:35.009Z,1628952455.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D06,000,00CDF,189,80,80,9C,FF
2021-08-14T14:47:35.009Z,1628952455.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:35.010Z,1628952455.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:35.011Z,1628952455.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:35.453Z,1628952455.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:35.474Z,1628952455.474 [Micromodem](INFO): Nmea in: ,AUV,2.1.4000*28

2021-08-14T14:47:35.475Z,1628952455.475 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,AUV,2.1.4000*28
 expected 0
2021-08-14T14:47:35.830Z,1628952455.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00CAE,189,80,80,A1,FF
2021-08-14T14:47:35.830Z,1628952455.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:36.266Z,1628952456.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.260010 m, bearing: 78.863816 deg, deltaT: 4.464355 s, approachRate: -0.658547 m/s, LOS rate: 1.607910 deg/s, posRepo size: 4
2021-08-14T14:47:36.268Z,1628952456.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 78.863816 deg,
      approachRate: -0.658547 m/s,
      LOS rate: 1.607910 deg/s,
      cmd update: 4.823731 deg/s,
      cmd heading: 102.454500 deg,
      new cmd heading: 103.705247 deg.

2021-08-14T14:47:38.742Z,1628952458.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:39.053Z,1628952459.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:39.053Z,1628952459.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:39.053Z,1628952459.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:39.054Z,1628952459.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:39.469Z,1628952459.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00CAE,189,80,80,A1,FF
2021-08-14T14:47:39.469Z,1628952459.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:39.470Z,1628952459.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:39.473Z,1628952459.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:39.884Z,1628952459.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:40.269Z,1628952460.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00C7E,189,80,80,A1,FF
2021-08-14T14:47:40.270Z,1628952460.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:40.694Z,1628952460.694 [Micromodem](INFO): Nmea in: $SNTTA,0.439593,0.439593,,,144741.20*5F

2021-08-14T14:47:40.774Z,1628952460.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.380005 m, bearing: 71.948694 deg, deltaT: 4.436722 s, approachRate: -0.649129 m/s, LOS rate: -1.558611 deg/s, posRepo size: 4
2021-08-14T14:47:40.776Z,1628952460.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.380005 m,
      bearing: 71.948694 deg,
      approachRate: -0.649129 m/s,
      LOS rate: -1.558611 deg/s,
      cmd update: -4.675832 deg/s,
      cmd heading: 123.816212 deg,
      new cmd heading: 126.070028 deg.

2021-08-14T14:47:43.119Z,1628952463.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:43.513Z,1628952463.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:43.513Z,1628952463.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:43.513Z,1628952463.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:43.514Z,1628952463.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:43.909Z,1628952463.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00C7E,189,80,80,A1,FF
2021-08-14T14:47:43.909Z,1628952463.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:43.909Z,1628952463.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:43.911Z,1628952463.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:44.313Z,1628952464.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:44.718Z,1628952464.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,00C4D,186,80,80,A1,FF
2021-08-14T14:47:44.719Z,1628952464.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:44.723Z,1628952464.723 [Micromodem](INFO): Nmea in: $SNTTA,0.100797,0.259973,,,144745.64*50

2021-08-14T14:47:45.151Z,1628952465.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.440018 m, bearing: 66.028695 deg, deltaT: 4.523590 s, approachRate: -0.649923 m/s, LOS rate: -1.308695 deg/s, posRepo size: 4
2021-08-14T14:47:45.154Z,1628952465.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.440018 m,
      bearing: 66.028695 deg,
      approachRate: -0.649923 m/s,
      LOS rate: -1.308695 deg/s,
      cmd update: -3.926084 deg/s,
      cmd heading: 102.682745 deg,
      new cmd heading: 101.154024 deg.

2021-08-14T14:47:47.581Z,1628952467.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:47.941Z,1628952467.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:47.941Z,1628952467.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:47.941Z,1628952467.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:47.942Z,1628952467.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:48.345Z,1628952468.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,00C4D,186,80,80,A1,FF
2021-08-14T14:47:48.345Z,1628952468.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:48.345Z,1628952468.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:48.347Z,1628952468.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:48.757Z,1628952468.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:49.162Z,1628952469.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,00C1F,189,80,80,AF,FF
2021-08-14T14:47:49.162Z,1628952469.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:49.590Z,1628952469.590 [Micromodem](INFO): Nmea in: $SNTTA,0.101160,,,,144750.07*43

2021-08-14T14:47:49.621Z,1628952469.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.679993 m, bearing: 57.803836 deg, deltaT: 4.366746 s, approachRate: -0.632055 m/s, LOS rate: -1.883521 deg/s, posRepo size: 4
2021-08-14T14:47:49.622Z,1628952469.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.679993 m,
      bearing: 57.803836 deg,
      approachRate: -0.632055 m/s,
      LOS rate: -1.883521 deg/s,
      cmd update: -5.650564 deg/s,
      cmd heading: 85.475107 deg,
      new cmd heading: 83.854043 deg.

2021-08-14T14:47:52.019Z,1628952472.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:52.398Z,1628952472.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:52.398Z,1628952472.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:52.399Z,1628952472.399 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:52.400Z,1628952472.400 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:52.789Z,1628952472.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37D,000,00C1F,189,80,80,AF,FF
2021-08-14T14:47:52.789Z,1628952472.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:52.789Z,1628952472.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:52.791Z,1628952472.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:53.202Z,1628952473.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:53.613Z,1628952473.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,00BF5,189,80,80,A2,FF
2021-08-14T14:47:53.613Z,1628952473.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:54.037Z,1628952474.037 [Micromodem](INFO): Nmea in: $SNTTA,0.114341,,,,144754.52*42

2021-08-14T14:47:54.060Z,1628952474.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.160004 m, bearing: 60.132507 deg, deltaT: 4.433795 s, approachRate: -0.568359 m/s, LOS rate: 0.525209 deg/s, posRepo size: 4
2021-08-14T14:47:54.062Z,1628952474.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.160004 m,
      bearing: 60.132507 deg,
      approachRate: -0.568359 m/s,
      LOS rate: 0.525209 deg/s,
      cmd update: 1.575628 deg/s,
      cmd heading: 60.424020 deg,
      new cmd heading: 58.057755 deg.

2021-08-14T14:47:56.531Z,1628952476.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:47:56.837Z,1628952476.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:47:56.837Z,1628952476.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:47:56.837Z,1628952476.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:47:56.838Z,1628952476.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:47:57.245Z,1628952477.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,00BF5,189,80,80,A2,FF
2021-08-14T14:47:57.246Z,1628952477.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:47:57.246Z,1628952477.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:47:57.247Z,1628952477.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:47:57.644Z,1628952477.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:47:58.057Z,1628952478.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00BC4,185,80,80,AF,FF
2021-08-14T14:47:58.057Z,1628952478.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:47:58.506Z,1628952478.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144758.98*54

2021-08-14T14:47:58.597Z,1628952478.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.220001 m, bearing: 67.424233 deg, deltaT: 4.432956 s, approachRate: -0.663215 m/s, LOS rate: 1.644890 deg/s, posRepo size: 4
2021-08-14T14:47:58.599Z,1628952478.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.220001 m,
      bearing: 67.424233 deg,
      approachRate: -0.663215 m/s,
      LOS rate: 1.644890 deg/s,
      cmd update: 4.934670 deg/s,
      cmd heading: 67.409368 deg,
      new cmd heading: 68.233962 deg.

2021-08-14T14:48:00.625Z,1628952480.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:00.881Z,1628952480.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:00.882Z,1628952480.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:00.882Z,1628952480.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:00.883Z,1628952480.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:01.282Z,1628952481.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00BC4,185,80,80,AF,FF
2021-08-14T14:48:01.282Z,1628952481.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:01.282Z,1628952481.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:01.284Z,1628952481.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:01.684Z,1628952481.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:02.093Z,1628952482.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00B95,184,80,80,AC,FF
2021-08-14T14:48:02.094Z,1628952482.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:02.548Z,1628952482.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144803.01*55

2021-08-14T14:48:02.618Z,1628952482.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.400009 m, bearing: 68.574184 deg, deltaT: 4.036131 s, approachRate: -0.698687 m/s, LOS rate: 0.284914 deg/s, posRepo size: 4
2021-08-14T14:48:02.620Z,1628952482.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.400009 m,
      bearing: 68.574184 deg,
      approachRate: -0.698687 m/s,
      LOS rate: 0.284914 deg/s,
      cmd update: 0.854743 deg/s,
      cmd heading: 87.327296 deg,
      new cmd heading: 89.830353 deg.

2021-08-14T14:48:04.970Z,1628952484.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:05.325Z,1628952485.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:05.325Z,1628952485.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:05.326Z,1628952485.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:05.327Z,1628952485.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:05.722Z,1628952485.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00B95,184,80,80,AC,FF
2021-08-14T14:48:05.722Z,1628952485.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:05.723Z,1628952485.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:05.725Z,1628952485.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:06.140Z,1628952486.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:06.565Z,1628952486.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,00B62,186,80,80,A2,FF
2021-08-14T14:48:06.566Z,1628952486.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:06.980Z,1628952486.980 [Micromodem](INFO): Nmea in: $SNTTA,0.094246,,,,144807.45*42

2021-08-14T14:48:06.000Z,1628952487.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.339996 m, bearing: 67.210373 deg, deltaT: 4.540245 s, approachRate: -0.673975 m/s, LOS rate: -0.300383 deg/s, posRepo size: 4
2021-08-14T14:48:07.002Z,1628952487.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.339996 m,
      bearing: 67.210373 deg,
      approachRate: -0.673975 m/s,
      LOS rate: -0.300383 deg/s,
      cmd update: -0.901148 deg/s,
      cmd heading: 91.207851 deg,
      new cmd heading: 91.506383 deg.

2021-08-14T14:48:09.379Z,1628952489.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:09.765Z,1628952489.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:09.765Z,1628952489.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:09.765Z,1628952489.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:09.766Z,1628952489.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:10.181Z,1628952490.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,00B62,186,80,80,A2,FF
2021-08-14T14:48:10.181Z,1628952490.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:10.181Z,1628952490.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:10.183Z,1628952490.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:10.616Z,1628952490.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:10.989Z,1628952490.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,00B34,189,80,80,AB,FF
2021-08-14T14:48:10.990Z,1628952490.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:11.417Z,1628952491.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144811.91*5F

2021-08-14T14:48:11.483Z,1628952491.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.580002 m, bearing: 55.651261 deg, deltaT: 4.420516 s, approachRate: -0.624360 m/s, LOS rate: -2.614878 deg/s, posRepo size: 4
2021-08-14T14:48:11.491Z,1628952491.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.580002 m,
      bearing: 55.651261 deg,
      approachRate: -0.624360 m/s,
      LOS rate: -2.614878 deg/s,
      cmd update: -7.844635 deg/s,
      cmd heading: 87.228158 deg,
      new cmd heading: 86.853046 deg.

2021-08-14T14:48:13.834Z,1628952493.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:14.209Z,1628952494.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:14.209Z,1628952494.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:14.209Z,1628952494.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:14.210Z,1628952494.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:14.633Z,1628952494.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,00B34,189,80,80,AB,FF
2021-08-14T14:48:14.633Z,1628952494.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:14.634Z,1628952494.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:14.635Z,1628952494.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:15.037Z,1628952495.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:15.449Z,1628952495.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BD,000,00B06,189,80,80,B2,FF
2021-08-14T14:48:15.450Z,1628952495.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:15.851Z,1628952495.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144816.37*54

2021-08-14T14:48:15.867Z,1628952495.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.820007 m, bearing: 57.674117 deg, deltaT: 4.443927 s, approachRate: -0.621071 m/s, LOS rate: 0.455196 deg/s, posRepo size: 4
2021-08-14T14:48:15.869Z,1628952495.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.820007 m,
      bearing: 57.674117 deg,
      approachRate: -0.621071 m/s,
      LOS rate: 0.455196 deg/s,
      cmd update: 1.365587 deg/s,
      cmd heading: 52.365076 deg,
      new cmd heading: 49.571170 deg.

2021-08-14T14:48:18.275Z,1628952498.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:18.649Z,1628952498.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:18.649Z,1628952498.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:18.649Z,1628952498.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:18.650Z,1628952498.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:19.058Z,1628952499.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BD,000,00B06,189,80,80,B2,FF
2021-08-14T14:48:19.058Z,1628952499.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:19.058Z,1628952499.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:19.060Z,1628952499.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:19.485Z,1628952499.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:19.873Z,1628952499.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00AD4,186,80,80,AD,FF
2021-08-14T14:48:19.874Z,1628952499.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:20.293Z,1628952500.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144820.79*5B

2021-08-14T14:48:20.333Z,1628952500.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.820007 m, bearing: 65.310815 deg, deltaT: 4.399607 s, approachRate: -0.681879 m/s, LOS rate: 1.735768 deg/s, posRepo size: 4
2021-08-14T14:48:20.335Z,1628952500.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.820007 m,
      bearing: 65.310815 deg,
      approachRate: -0.681879 m/s,
      LOS rate: 1.735768 deg/s,
      cmd update: 5.207305 deg/s,
      cmd heading: 58.345570 deg,
      new cmd heading: 58.950710 deg.

2021-08-14T14:48:22.753Z,1628952502.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:23.104Z,1628952503.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:23.105Z,1628952503.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:23.105Z,1628952503.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:23.106Z,1628952503.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:23.513Z,1628952503.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00AD4,186,80,80,AD,FF
2021-08-14T14:48:23.513Z,1628952503.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:23.513Z,1628952503.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:23.515Z,1628952503.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:23.911Z,1628952503.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:24.309Z,1628952504.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00AA3,184,80,80,C8,FF
2021-08-14T14:48:24.309Z,1628952504.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:24.745Z,1628952504.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144825.25*57

2021-08-14T14:48:24.803Z,1628952504.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.880005 m, bearing: 66.539874 deg, deltaT: 4.411967 s, approachRate: -0.666370 m/s, LOS rate: 0.278574 deg/s, posRepo size: 4
2021-08-14T14:48:24.805Z,1628952504.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.880005 m,
      bearing: 66.539874 deg,
      approachRate: -0.666370 m/s,
      LOS rate: 0.278574 deg/s,
      cmd update: 0.835721 deg/s,
      cmd heading: 81.445137 deg,
      new cmd heading: 83.927407 deg.

2021-08-14T14:48:27.176Z,1628952507.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:27.541Z,1628952507.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:27.541Z,1628952507.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:27.541Z,1628952507.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:27.542Z,1628952507.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:27.957Z,1628952507.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00AA3,184,80,80,C8,FF
2021-08-14T14:48:27.957Z,1628952507.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:27.957Z,1628952507.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:27.960Z,1628952507.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:28.365Z,1628952508.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:28.779Z,1628952508.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00A6D,186,80,80,C0,FF
2021-08-14T14:48:28.779Z,1628952508.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:29.209Z,1628952509.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144829.69*53

2021-08-14T14:48:29.231Z,1628952509.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.640007 m, bearing: 65.610872 deg, deltaT: 4.545408 s, approachRate: -0.712807 m/s, LOS rate: -0.204382 deg/s, posRepo size: 4
2021-08-14T14:48:29.254Z,1628952509.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.640007 m,
      bearing: 65.610872 deg,
      approachRate: -0.712807 m/s,
      LOS rate: -0.204382 deg/s,
      cmd update: -0.613147 deg/s,
      cmd heading: 85.240576 deg,
      new cmd heading: 85.544393 deg.

2021-08-14T14:48:31.633Z,1628952511.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:32.002Z,1628952512.002 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:32.002Z,1628952512.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:32.002Z,1628952512.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:32.004Z,1628952512.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:32.409Z,1628952512.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00A6D,186,80,80,C0,FF
2021-08-14T14:48:32.409Z,1628952512.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:32.409Z,1628952512.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:32.411Z,1628952512.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:32.811Z,1628952512.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:33.213Z,1628952513.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,00A34,187,80,80,A5,FF
2021-08-14T14:48:33.213Z,1628952513.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:33.657Z,1628952513.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144834.14*55

2021-08-14T14:48:33.690Z,1628952513.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 62.385397 deg, deltaT: 4.382395 s, approachRate: -0.780397 m/s, LOS rate: -0.736007 deg/s, posRepo size: 4
2021-08-14T14:48:33.693Z,1628952513.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.220001 m,
      bearing: 62.385397 deg,
      approachRate: -0.780397 m/s,
      LOS rate: -0.736007 deg/s,
      cmd update: -2.208022 deg/s,
      cmd heading: 82.565726 deg,
      new cmd heading: 82.284530 deg.

2021-08-14T14:48:36.097Z,1628952516.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:36.449Z,1628952516.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:36.450Z,1628952516.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:36.450Z,1628952516.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:36.452Z,1628952516.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:36.851Z,1628952516.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,00A34,187,80,80,A5,FF
2021-08-14T14:48:36.851Z,1628952516.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:36.851Z,1628952516.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:36.853Z,1628952516.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:37.252Z,1628952517.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:37.661Z,1628952517.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00A06,188,80,80,B2,FF
2021-08-14T14:48:37.661Z,1628952517.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:38.097Z,1628952518.097 [Micromodem](INFO): Nmea in: $SNTTA,0.085598,,,,144838.58*46

2021-08-14T14:48:38.137Z,1628952518.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.460007 m, bearing: 57.880341 deg, deltaT: 4.492465 s, approachRate: -0.614361 m/s, LOS rate: -1.002803 deg/s, posRepo size: 4
2021-08-14T14:48:38.139Z,1628952518.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.460007 m,
      bearing: 57.880341 deg,
      approachRate: -0.614361 m/s,
      LOS rate: -1.002803 deg/s,
      cmd update: -3.008408 deg/s,
      cmd heading: 72.615127 deg,
      new cmd heading: 71.732042 deg.

2021-08-14T14:48:40.614Z,1628952520.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:40.885Z,1628952520.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:40.885Z,1628952520.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:40.885Z,1628952520.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:40.886Z,1628952520.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:41.298Z,1628952521.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00A06,188,80,80,B2,FF
2021-08-14T14:48:41.298Z,1628952521.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:41.298Z,1628952521.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:41.300Z,1628952521.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:41.700Z,1628952521.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:42.101Z,1628952522.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,009D1,185,80,80,A5,FF
2021-08-14T14:48:42.102Z,1628952522.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:42.574Z,1628952522.574 [Micromodem](INFO): Nmea in: $SNTTA,0.077800,,,,144843.03*45

2021-08-14T14:48:42.650Z,1628952522.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.279999 m, bearing: 63.200847 deg, deltaT: 4.391855 s, approachRate: -0.724069 m/s, LOS rate: 1.211448 deg/s, posRepo size: 4
2021-08-14T14:48:42.652Z,1628952522.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.279999 m,
      bearing: 63.200847 deg,
      approachRate: -0.724069 m/s,
      LOS rate: 1.211448 deg/s,
      cmd update: 3.634345 deg/s,
      cmd heading: 59.434341 deg,
      new cmd heading: 57.835769 deg.

2021-08-14T14:48:44.987Z,1628952524.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:45.329Z,1628952525.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:45.329Z,1628952525.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:45.329Z,1628952525.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:45.330Z,1628952525.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:45.745Z,1628952525.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,009D1,185,80,80,A5,FF
2021-08-14T14:48:45.746Z,1628952525.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:45.746Z,1628952525.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:45.747Z,1628952525.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:46.160Z,1628952526.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:46.565Z,1628952526.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,0099C,183,80,80,AE,FF
2021-08-14T14:48:46.566Z,1628952526.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:46.977Z,1628952526.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144847.48*58

2021-08-14T14:48:46.999Z,1628952526.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.099998 m, bearing: 65.759736 deg, deltaT: 4.538572 s, approachRate: -0.700661 m/s, LOS rate: 0.563809 deg/s, posRepo size: 4
2021-08-14T14:48:47.022Z,1628952527.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.099998 m,
      bearing: 65.759736 deg,
      approachRate: -0.700661 m/s,
      LOS rate: 0.563809 deg/s,
      cmd update: 1.691428 deg/s,
      cmd heading: 75.990625 deg,
      new cmd heading: 77.174175 deg.

2021-08-14T14:48:49.411Z,1628952529.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:49.773Z,1628952529.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:49.773Z,1628952529.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:49.774Z,1628952529.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:49.775Z,1628952529.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:50.189Z,1628952530.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,0099C,183,80,80,AE,FF
2021-08-14T14:48:50.189Z,1628952530.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:50.189Z,1628952530.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:50.191Z,1628952530.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:50.631Z,1628952530.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:50.989Z,1628952530.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00965,186,80,80,B6,FF
2021-08-14T14:48:50.989Z,1628952530.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:51.436Z,1628952531.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144851.92*58

2021-08-14T14:48:51.504Z,1628952531.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.799995 m, bearing: 63.366131 deg, deltaT: 4.330032 s, approachRate: -0.762120 m/s, LOS rate: -0.552792 deg/s, posRepo size: 4
2021-08-14T14:48:51.507Z,1628952531.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.799995 m,
      bearing: 63.366131 deg,
      approachRate: -0.762120 m/s,
      LOS rate: -0.552792 deg/s,
      cmd update: -1.658375 deg/s,
      cmd heading: 83.320451 deg,
      new cmd heading: 84.151412 deg.

2021-08-14T14:48:53.869Z,1628952533.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:54.225Z,1628952534.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:54.225Z,1628952534.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:54.225Z,1628952534.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:54.226Z,1628952534.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:54.633Z,1628952534.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00965,186,80,80,B6,FF
2021-08-14T14:48:54.634Z,1628952534.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:54.634Z,1628952534.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:54.635Z,1628952534.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:55.040Z,1628952535.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:55.445Z,1628952535.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,00932,189,80,80,A3,FF
2021-08-14T14:48:55.446Z,1628952535.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:48:55.869Z,1628952535.869 [Micromodem](INFO): Nmea in: $SNTTA,0.071916,,,,144856.36*47

2021-08-14T14:48:55.891Z,1628952535.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 56.232606 deg, deltaT: 4.525754 s, approachRate: -0.676130 m/s, LOS rate: -1.576207 deg/s, posRepo size: 4
2021-08-14T14:48:55.894Z,1628952535.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.739998 m,
      bearing: 56.232606 deg,
      approachRate: -0.676130 m/s,
      LOS rate: -1.576207 deg/s,
      cmd update: -4.728621 deg/s,
      cmd heading: 75.843951 deg,
      new cmd heading: 75.220721 deg.

2021-08-14T14:48:58.295Z,1628952538.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:48:58.673Z,1628952538.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:48:58.673Z,1628952538.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:48:58.673Z,1628952538.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:48:58.674Z,1628952538.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:48:59.069Z,1628952539.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,00932,189,80,80,A3,FF
2021-08-14T14:48:59.069Z,1628952539.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:48:59.069Z,1628952539.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:48:59.071Z,1628952539.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:48:59.505Z,1628952539.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:48:59.877Z,1628952539.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,00900,185,80,80,C1,FF
2021-08-14T14:48:59.878Z,1628952539.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:00.321Z,1628952540.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144900.80*5E

2021-08-14T14:49:00.350Z,1628952540.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.740005 m, bearing: 60.838667 deg, deltaT: 4.361488 s, approachRate: -0.687837 m/s, LOS rate: 1.056076 deg/s, posRepo size: 4
2021-08-14T14:49:00.351Z,1628952540.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.740005 m,
      bearing: 60.838667 deg,
      approachRate: -0.687837 m/s,
      LOS rate: 1.056076 deg/s,
      cmd update: 3.168227 deg/s,
      cmd heading: 55.138693 deg,
      new cmd heading: 52.985846 deg.

2021-08-14T14:49:02.778Z,1628952542.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:03.117Z,1628952543.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:03.117Z,1628952543.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:03.117Z,1628952543.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:03.118Z,1628952543.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:03.521Z,1628952543.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,00900,185,80,80,C1,FF
2021-08-14T14:49:03.521Z,1628952543.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:03.521Z,1628952543.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:03.523Z,1628952543.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:03.925Z,1628952543.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:04.326Z,1628952544.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,008C8,183,80,80,C1,FF
2021-08-14T14:49:04.326Z,1628952544.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:04.769Z,1628952544.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144905.25*54

2021-08-14T14:49:04.829Z,1628952544.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.380005 m, bearing: 65.627852 deg, deltaT: 4.448290 s, approachRate: -0.755347 m/s, LOS rate: 1.076635 deg/s, posRepo size: 4
2021-08-14T14:49:04.831Z,1628952544.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.380005 m,
      bearing: 65.627852 deg,
      approachRate: -0.755347 m/s,
      LOS rate: 1.076635 deg/s,
      cmd update: 3.229906 deg/s,
      cmd heading: 69.232410 deg,
      new cmd heading: 70.771367 deg.

2021-08-14T14:49:07.174Z,1628952547.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:07.557Z,1628952547.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:07.557Z,1628952547.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:07.558Z,1628952547.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:07.559Z,1628952547.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:07.965Z,1628952547.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,008C8,183,80,80,C1,FF
2021-08-14T14:49:07.966Z,1628952547.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:07.966Z,1628952547.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:07.968Z,1628952547.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:08.369Z,1628952548.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:08.769Z,1628952548.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00891,184,80,80,B5,FF
2021-08-14T14:49:08.769Z,1628952548.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:08.773Z,1628952548.773 [Micromodem](INFO): Nmea in: $SNTTA,0.077056,0.190612,,,144909.70*56

2021-08-14T14:49:09.221Z,1628952549.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.080002 m, bearing: 64.558634 deg, deltaT: 4.538558 s, approachRate: -0.727104 m/s, LOS rate: -0.235585 deg/s, posRepo size: 4
2021-08-14T14:49:09.223Z,1628952549.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.080002 m,
      bearing: 64.558634 deg,
      approachRate: -0.727104 m/s,
      LOS rate: -0.235585 deg/s,
      cmd update: -0.706756 deg/s,
      cmd heading: 83.864444 deg,
      new cmd heading: 84.975981 deg.

2021-08-14T14:49:11.633Z,1628952551.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:12.001Z,1628952552.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:12.001Z,1628952552.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:12.001Z,1628952552.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:12.002Z,1628952552.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:12.401Z,1628952552.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00891,184,80,80,B5,FF
2021-08-14T14:49:12.401Z,1628952552.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:12.401Z,1628952552.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:12.403Z,1628952552.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:12.817Z,1628952552.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:13.217Z,1628952553.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,0085D,189,80,80,A6,FF
2021-08-14T14:49:13.217Z,1628952553.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:13.645Z,1628952553.645 [Micromodem](INFO): Nmea in: $SNTTA,0.075105,,,,144914.13*49

2021-08-14T14:49:13.697Z,1628952553.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.959999 m, bearing: 53.879630 deg, deltaT: 4.356547 s, approachRate: -0.716164 m/s, LOS rate: -2.451254 deg/s, posRepo size: 4
2021-08-14T14:49:13.705Z,1628952553.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.959999 m,
      bearing: 53.879630 deg,
      approachRate: -0.716164 m/s,
      LOS rate: -2.451254 deg/s,
      cmd update: -7.353762 deg/s,
      cmd heading: 80.779471 deg,
      new cmd heading: 80.458538 deg.

2021-08-14T14:49:16.055Z,1628952556.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:16.458Z,1628952556.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:16.458Z,1628952556.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:16.459Z,1628952556.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:16.459Z,1628952556.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:16.853Z,1628952556.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,0085D,189,80,80,A6,FF
2021-08-14T14:49:16.853Z,1628952556.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:16.853Z,1628952556.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:16.855Z,1628952556.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:17.268Z,1628952557.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:17.653Z,1628952557.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,0082B,189,80,80,91,FF
2021-08-14T14:49:17.653Z,1628952557.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:18.093Z,1628952558.093 [Micromodem](INFO): Nmea in: $SNTTA,0.071014,,,,144918.59*4E

2021-08-14T14:49:18.115Z,1628952558.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.960007 m, bearing: 53.565045 deg, deltaT: 4.494135 s, approachRate: -0.667535 m/s, LOS rate: -0.069999 deg/s, posRepo size: 4
2021-08-14T14:49:18.118Z,1628952558.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.960007 m,
      bearing: 53.565045 deg,
      approachRate: -0.667535 m/s,
      LOS rate: -0.069999 deg/s,
      cmd update: -0.209997 deg/s,
      cmd heading: 47.760313 deg,
      new cmd heading: 44.911980 deg.

2021-08-14T14:49:20.600Z,1628952560.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:20.885Z,1628952560.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:20.885Z,1628952560.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:20.885Z,1628952560.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:20.886Z,1628952560.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:21.301Z,1628952561.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,0082B,189,80,80,91,FF
2021-08-14T14:49:21.301Z,1628952561.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:21.301Z,1628952561.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:21.303Z,1628952561.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:21.712Z,1628952561.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:22.153Z,1628952562.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,007FB,183,80,80,93,FF
2021-08-14T14:49:22.154Z,1628952562.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:22.573Z,1628952562.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144923.03*54

2021-08-14T14:49:22.657Z,1628952562.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.080002 m, bearing: 62.316180 deg, deltaT: 4.480274 s, approachRate: -0.642819 m/s, LOS rate: 1.953259 deg/s, posRepo size: 4
2021-08-14T14:49:22.659Z,1628952562.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.080002 m,
      bearing: 62.316180 deg,
      approachRate: -0.642819 m/s,
      LOS rate: 1.953259 deg/s,
      cmd update: 5.859777 deg/s,
      cmd heading: 46.819492 deg,
      new cmd heading: 46.729460 deg.

2021-08-14T14:49:24.977Z,1628952564.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:25.333Z,1628952565.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:25.333Z,1628952565.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:25.333Z,1628952565.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:25.334Z,1628952565.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:25.741Z,1628952565.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,007FB,183,80,80,93,FF
2021-08-14T14:49:25.741Z,1628952565.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:25.741Z,1628952565.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:25.743Z,1628952565.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:26.136Z,1628952566.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:26.549Z,1628952566.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,007CE,187,80,80,AE,FF
2021-08-14T14:49:26.550Z,1628952566.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:26.582Z,1628952566.582 [Micromodem](INFO): Nmea in: $SNTTA,0.059083,0.301508,,,144927.47*58

2021-08-14T14:49:26.984Z,1628952566.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.380005 m, bearing: 64.222739 deg, deltaT: 4.446049 s, approachRate: -0.607280 m/s, LOS rate: 0.428821 deg/s, posRepo size: 4
2021-08-14T14:49:26.986Z,1628952566.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.380005 m,
      bearing: 64.222739 deg,
      approachRate: -0.607280 m/s,
      LOS rate: 0.428821 deg/s,
      cmd update: 1.286463 deg/s,
      cmd heading: 72.896631 deg,
      new cmd heading: 74.805284 deg.

2021-08-14T14:49:29.385Z,1628952569.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:29.773Z,1628952569.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:29.773Z,1628952569.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:29.773Z,1628952569.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:29.774Z,1628952569.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:30.177Z,1628952570.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,007CE,187,80,80,AE,FF
2021-08-14T14:49:30.177Z,1628952570.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:30.177Z,1628952570.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:30.179Z,1628952570.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:30.625Z,1628952570.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:30.989Z,1628952570.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,0079F,184,80,80,8B,FF
2021-08-14T14:49:30.989Z,1628952570.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:31.430Z,1628952571.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144931.91*5C

2021-08-14T14:49:31.492Z,1628952571.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.559998 m, bearing: 63.312760 deg, deltaT: 4.380241 s, approachRate: -0.643802 m/s, LOS rate: -0.207746 deg/s, posRepo size: 4
2021-08-14T14:49:31.494Z,1628952571.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.559998 m,
      bearing: 63.312760 deg,
      approachRate: -0.643802 m/s,
      LOS rate: -0.207746 deg/s,
      cmd update: -0.623239 deg/s,
      cmd heading: 78.526449 deg,
      new cmd heading: 79.114708 deg.

2021-08-14T14:49:33.865Z,1628952573.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:34.221Z,1628952574.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:34.222Z,1628952574.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:34.222Z,1628952574.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:34.223Z,1628952574.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:34.629Z,1628952574.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,0079F,184,80,80,8B,FF
2021-08-14T14:49:34.629Z,1628952574.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:34.629Z,1628952574.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:34.631Z,1628952574.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:35.037Z,1628952575.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:35.453Z,1628952575.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,0076B,186,80,80,A3,FF
2021-08-14T14:49:35.454Z,1628952575.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:35.875Z,1628952575.875 [Micromodem](INFO): Nmea in: $SNTTA,0.085122,,,,144936.36*44

2021-08-14T14:49:35.896Z,1628952575.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.440010 m, bearing: 58.945612 deg, deltaT: 4.489230 s, approachRate: -0.694994 m/s, LOS rate: -0.972806 deg/s, posRepo size: 4
2021-08-14T14:49:35.898Z,1628952575.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.440010 m,
      bearing: 58.945612 deg,
      approachRate: -0.694994 m/s,
      LOS rate: -0.972806 deg/s,
      cmd update: -2.918417 deg/s,
      cmd heading: 75.728581 deg,
      new cmd heading: 75.496881 deg.

2021-08-14T14:49:38.300Z,1628952578.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:38.667Z,1628952578.667 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:38.668Z,1628952578.668 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:38.669Z,1628952578.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:38.671Z,1628952578.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:39.079Z,1628952579.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,0076B,186,80,80,A3,FF
2021-08-14T14:49:39.080Z,1628952579.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:39.080Z,1628952579.080 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:39.082Z,1628952579.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:39.509Z,1628952579.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:39.877Z,1628952579.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,00737,186,80,80,84,FF
2021-08-14T14:49:39.877Z,1628952579.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:40.321Z,1628952580.321 [Micromodem](INFO): Nmea in: $SNTTA,0.057841,,,,144940.81*4A

2021-08-14T14:49:40.356Z,1628952580.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.320007 m, bearing: 53.728877 deg, deltaT: 4.366195 s, approachRate: -0.714582 m/s, LOS rate: -1.194801 deg/s, posRepo size: 4
2021-08-14T14:49:40.358Z,1628952580.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.320007 m,
      bearing: 53.728877 deg,
      approachRate: -0.714582 m/s,
      LOS rate: -1.194801 deg/s,
      cmd update: -3.584403 deg/s,
      cmd heading: 62.974451 deg,
      new cmd heading: 61.626122 deg.

2021-08-14T14:49:42.792Z,1628952582.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:43.105Z,1628952583.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:43.105Z,1628952583.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:43.106Z,1628952583.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:43.107Z,1628952583.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:43.529Z,1628952583.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,00737,186,80,80,84,FF
2021-08-14T14:49:43.529Z,1628952583.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:43.529Z,1628952583.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:43.531Z,1628952583.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:43.921Z,1628952583.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:44.325Z,1628952584.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00708,184,80,80,9C,FF
2021-08-14T14:49:44.325Z,1628952584.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:44.737Z,1628952584.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144945.26*53

2021-08-14T14:49:44.795Z,1628952584.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 60.409540 deg, deltaT: 4.493057 s, approachRate: -0.627637 m/s, LOS rate: 1.486886 deg/s, posRepo size: 4
2021-08-14T14:49:44.797Z,1628952584.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.500000 m,
      bearing: 60.409540 deg,
      approachRate: -0.627637 m/s,
      LOS rate: 1.486886 deg/s,
      cmd update: 4.460657 deg/s,
      cmd heading: 46.884170 deg,
      new cmd heading: 45.408299 deg.

2021-08-14T14:49:47.167Z,1628952587.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:47.565Z,1628952587.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:47.565Z,1628952587.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:47.565Z,1628952587.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:47.566Z,1628952587.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:47.962Z,1628952587.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00708,184,80,80,9C,FF
2021-08-14T14:49:47.962Z,1628952587.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:47.962Z,1628952587.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:47.964Z,1628952587.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:48.376Z,1628952588.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:48.773Z,1628952588.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,006DA,187,80,80,80,FF
2021-08-14T14:49:48.773Z,1628952588.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:49.209Z,1628952589.209 [Micromodem](INFO): Nmea in: $SNTTA,0.065127,,,,144949.70*45

2021-08-14T14:49:49.244Z,1628952589.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 62.822215 deg, deltaT: 4.470344 s, approachRate: -0.617401 m/s, LOS rate: 0.539707 deg/s, posRepo size: 4
2021-08-14T14:49:49.246Z,1628952589.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.740005 m,
      bearing: 62.822215 deg,
      approachRate: -0.617401 m/s,
      LOS rate: 0.539707 deg/s,
      cmd update: 1.619121 deg/s,
      cmd heading: 66.838872 deg,
      new cmd heading: 68.566359 deg.

2021-08-14T14:49:51.646Z,1628952591.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:51.993Z,1628952591.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:51.993Z,1628952591.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:51.993Z,1628952591.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:51.994Z,1628952591.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:52.418Z,1628952592.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,006DA,187,80,80,80,FF
2021-08-14T14:49:52.418Z,1628952592.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:52.418Z,1628952592.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:52.421Z,1628952592.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:52.813Z,1628952592.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:53.206Z,1628952593.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,006A8,184,80,80,9F,FF
2021-08-14T14:49:53.207Z,1628952593.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:53.645Z,1628952593.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144954.15*53

2021-08-14T14:49:53.676Z,1628952593.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.739998 m, bearing: 62.166558 deg, deltaT: 4.400409 s, approachRate: -0.681757 m/s, LOS rate: -0.148999 deg/s, posRepo size: 4
2021-08-14T14:49:53.678Z,1628952593.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.739998 m,
      bearing: 62.166558 deg,
      approachRate: -0.681757 m/s,
      LOS rate: -0.148999 deg/s,
      cmd update: -0.446997 deg/s,
      cmd heading: 73.958536 deg,
      new cmd heading: 74.641487 deg.

2021-08-14T14:49:56.076Z,1628952596.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:49:56.457Z,1628952596.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:49:56.458Z,1628952596.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:49:56.458Z,1628952596.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:49:56.459Z,1628952596.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:49:56.845Z,1628952596.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,006A8,184,80,80,9F,FF
2021-08-14T14:49:56.846Z,1628952596.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:49:56.846Z,1628952596.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:49:56.847Z,1628952596.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:49:57.251Z,1628952597.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:49:57.657Z,1628952597.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00677,186,80,80,93,FF
2021-08-14T14:49:57.658Z,1628952597.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:49:58.094Z,1628952598.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144958.58*56

2021-08-14T14:49:58.128Z,1628952598.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 54.994081 deg, deltaT: 4.491059 s, approachRate: -0.654632 m/s, LOS rate: -1.597057 deg/s, posRepo size: 4
2021-08-14T14:49:58.130Z,1628952598.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.800007 m,
      bearing: 54.994081 deg,
      approachRate: -0.654632 m/s,
      LOS rate: -1.597057 deg/s,
      cmd update: -4.791171 deg/s,
      cmd heading: 71.949325 deg,
      new cmd heading: 71.779823 deg.

2021-08-14T14:49:58.413Z,1628952598.413 [CTD_Seabird](ERROR): Failed to parse device response: .79
2021-08-14T14:50:00.603Z,1628952600.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:00.881Z,1628952600.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:00.881Z,1628952600.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:00.882Z,1628952600.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:00.882Z,1628952600.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:01.289Z,1628952601.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00677,186,80,80,93,FF
2021-08-14T14:50:01.290Z,1628952601.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:01.290Z,1628952601.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:01.292Z,1628952601.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:01.704Z,1628952601.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:02.097Z,1628952602.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,00644,185,80,80,6A,FF
2021-08-14T14:50:02.098Z,1628952602.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:02.564Z,1628952602.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145003.02*5F

2021-08-14T14:50:02.623Z,1628952602.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 54.585673 deg, deltaT: 4.409265 s, approachRate: -0.693995 m/s, LOS rate: -0.092625 deg/s, posRepo size: 4
2021-08-14T14:50:02.625Z,1628952602.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.739998 m,
      bearing: 54.585673 deg,
      approachRate: -0.693995 m/s,
      LOS rate: -0.092625 deg/s,
      cmd update: -0.277875 deg/s,
      cmd heading: 50.985278 deg,
      new cmd heading: 48.595082 deg.

2021-08-14T14:50:04.967Z,1628952604.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:05.325Z,1628952605.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:05.325Z,1628952605.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:05.325Z,1628952605.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:05.326Z,1628952605.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:05.741Z,1628952605.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,00644,185,80,80,6A,FF
2021-08-14T14:50:05.741Z,1628952605.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:05.741Z,1628952605.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:05.743Z,1628952605.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:06.136Z,1628952606.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:06.962Z,1628952606.962 [Micromodem](INFO): Nmea in: $SNTTA,0.062236,,,,145007.47*47

2021-08-14T14:50:07.805Z,1628952607.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:09.371Z,1628952609.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,6A,FF
2021-08-14T14:50:09.371Z,1628952609.371 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,6A,FF
2021-08-14T14:50:09.371Z,1628952609.371 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:50:10.678Z,1628952610.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:10.983Z,1628952610.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:10.983Z,1628952610.983 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:10.983Z,1628952610.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:10.984Z,1628952610.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:11.389Z,1628952611.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,6A,FF
2021-08-14T14:50:11.389Z,1628952611.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:11.389Z,1628952611.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:11.391Z,1628952611.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:11.809Z,1628952611.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:12.193Z,1628952612.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,005CE,186,80,80,8B,FF
2021-08-14T14:50:12.194Z,1628952612.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:12.646Z,1628952612.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145013.12*5F

2021-08-14T14:50:12.749Z,1628952612.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 62.609878 deg, deltaT: 10.057252 s, approachRate: -0.703969 m/s, LOS rate: 0.797853 deg/s, posRepo size: 4
2021-08-14T14:50:12.751Z,1628952612.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.660004 m,
      bearing: 62.609878 deg,
      approachRate: -0.703969 m/s,
      LOS rate: 0.797853 deg/s,
      cmd update: 2.393558 deg/s,
      cmd heading: 48.181194 deg,
      new cmd heading: 48.034202 deg.

2021-08-14T14:50:14.722Z,1628952614.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:15.023Z,1628952615.023 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:15.025Z,1628952615.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:15.026Z,1628952615.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:15.027Z,1628952615.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:15.445Z,1628952615.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,005CE,186,80,80,8B,FF
2021-08-14T14:50:15.445Z,1628952615.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:15.446Z,1628952615.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:15.457Z,1628952615.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:15.845Z,1628952615.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:16.265Z,1628952616.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,005A3,186,80,80,82,FF
2021-08-14T14:50:16.265Z,1628952616.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:16.665Z,1628952616.665 [Micromodem](INFO): Nmea in: $SNTTA,0.067841,,,,145017.19*42

2021-08-14T14:50:16.775Z,1628952616.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 62.892484 deg, deltaT: 4.066715 s, approachRate: -0.634420 m/s, LOS rate: 0.069492 deg/s, posRepo size: 4
2021-08-14T14:50:16.783Z,1628952616.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 62.892484 deg,
      approachRate: -0.634420 m/s,
      LOS rate: 0.069492 deg/s,
      cmd update: 0.208477 deg/s,
      cmd heading: 57.915334 deg,
      new cmd heading: 59.093556 deg.

2021-08-14T14:50:19.103Z,1628952619.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:19.513Z,1628952619.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:19.513Z,1628952619.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:19.513Z,1628952619.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:19.514Z,1628952619.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:19.873Z,1628952619.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,005A3,186,80,80,82,FF
2021-08-14T14:50:19.874Z,1628952619.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:19.874Z,1628952619.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:19.875Z,1628952619.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:20.276Z,1628952620.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:20.685Z,1628952620.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00570,187,80,80,AC,FF
2021-08-14T14:50:20.686Z,1628952620.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:21.113Z,1628952621.113 [Micromodem](INFO): Nmea in: $SNTTA,0.042061,,,,145021.60*44

2021-08-14T14:50:21.144Z,1628952621.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 60.967074 deg, deltaT: 4.529246 s, approachRate: -0.675609 m/s, LOS rate: -0.425106 deg/s, posRepo size: 4
2021-08-14T14:50:21.146Z,1628952621.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.019997 m,
      bearing: 60.967074 deg,
      approachRate: -0.675609 m/s,
      LOS rate: -0.425106 deg/s,
      cmd update: -1.275318 deg/s,
      cmd heading: 58.856797 deg,
      new cmd heading: 58.928823 deg.

2021-08-14T14:50:23.545Z,1628952623.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:23.909Z,1628952623.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:23.909Z,1628952623.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:23.909Z,1628952623.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:23.910Z,1628952623.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:24.313Z,1628952624.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00570,187,80,80,AC,FF
2021-08-14T14:50:24.313Z,1628952624.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:24.313Z,1628952624.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:24.315Z,1628952624.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:24.735Z,1628952624.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:25.122Z,1628952625.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00543,184,80,80,6B,FF
2021-08-14T14:50:25.122Z,1628952625.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:25.584Z,1628952625.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 60.501058 deg, deltaT: 4.355636 s, approachRate: -0.619887 m/s, LOS rate: -0.106992 deg/s, posRepo size: 4
2021-08-14T14:50:25.586Z,1628952625.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.319996 m,
      bearing: 60.501058 deg,
      approachRate: -0.619887 m/s,
      LOS rate: -0.106992 deg/s,
      cmd update: -0.320975 deg/s,
      cmd heading: 53.290142 deg,
      new cmd heading: 52.753467 deg.

2021-08-14T14:50:27.978Z,1628952627.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:28.353Z,1628952628.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:28.354Z,1628952628.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:28.354Z,1628952628.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:28.355Z,1628952628.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:28.761Z,1628952628.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00543,184,80,80,6B,FF
2021-08-14T14:50:28.761Z,1628952628.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:28.762Z,1628952628.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:28.763Z,1628952628.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:29.209Z,1628952629.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:29.609Z,1628952629.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,0050C,186,80,80,A1,FF
2021-08-14T14:50:29.609Z,1628952629.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:30.025Z,1628952630.025 [Micromodem](INFO): Nmea in: $SNTTA,0.063158,,,,145030.50*4F

2021-08-14T14:50:30.047Z,1628952630.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 61.921873 deg, deltaT: 4.497689 s, approachRate: -0.733710 m/s, LOS rate: 0.315899 deg/s, posRepo size: 4
2021-08-14T14:50:30.074Z,1628952630.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.019997 m,
      bearing: 61.921873 deg,
      approachRate: -0.733710 m/s,
      LOS rate: 0.315899 deg/s,
      cmd update: 0.947697 deg/s,
      cmd heading: 51.846625 deg,
      new cmd heading: 51.722371 deg.

2021-08-14T14:50:32.494Z,1628952632.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:32.833Z,1628952632.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:32.833Z,1628952632.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:32.833Z,1628952632.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:32.834Z,1628952632.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:33.237Z,1628952633.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,0050C,186,80,80,A1,FF
2021-08-14T14:50:33.237Z,1628952633.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:33.237Z,1628952633.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:33.239Z,1628952633.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:33.651Z,1628952633.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:34.045Z,1628952634.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,004DE,187,80,80,8F,FF
2021-08-14T14:50:34.045Z,1628952634.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:34.503Z,1628952634.503 [Micromodem](INFO): Nmea in: $SNTTA,0.039638,,,,145034.97*4E

2021-08-14T14:50:34.629Z,1628952634.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 63.677068 deg, deltaT: 4.421614 s, approachRate: -0.624206 m/s, LOS rate: 0.396958 deg/s, posRepo size: 4
2021-08-14T14:50:34.630Z,1628952634.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.26 m.
2021-08-14T14:50:34.637Z,1628952634.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.259998 m,
      bearing: 63.677068 deg,
      approachRate: -0.624206 m/s,
      LOS rate: 0.396958 deg/s,
      cmd update: 1.190874 deg/s,
      cmd heading: 56.018394 deg,
      new cmd heading: 56.550251 deg.

2021-08-14T14:50:34.894Z,1628952634.894 [PowerOnly](INFO): Powering up loadControl
2021-08-14T14:50:34.950Z,1628952634.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:50:34.950Z,1628952634.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:50:34.950Z,1628952634.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:50:34.951Z,1628952634.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:50:34.951Z,1628952634.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:50:34.951Z,1628952634.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:50:35.317Z,1628952635.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:50:35.317Z,1628952635.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:50:35.318Z,1628952635.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:50:35.318Z,1628952635.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:50:36.643Z,1628952636.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:36.877Z,1628952636.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:36.877Z,1628952636.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:36.878Z,1628952636.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:36.879Z,1628952636.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:37.277Z,1628952637.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,004DE,187,80,80,8F,FF
2021-08-14T14:50:37.277Z,1628952637.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:37.277Z,1628952637.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:37.279Z,1628952637.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:37.684Z,1628952637.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:38.089Z,1628952638.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,004AF,186,80,80,72,FF
2021-08-14T14:50:38.090Z,1628952638.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:38.110Z,1628952638.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:50:38.549Z,1628952638.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145039.01*55

2021-08-14T14:50:38.637Z,1628952638.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 62.868046 deg, deltaT: 4.021245 s, approachRate: -0.701275 m/s, LOS rate: -0.201187 deg/s, posRepo size: 4
2021-08-14T14:50:38.637Z,1628952638.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.44 m.
2021-08-14T14:50:38.639Z,1628952638.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.439999 m,
      bearing: 62.868046 deg,
      approachRate: -0.701275 m/s,
      LOS rate: -0.201187 deg/s,
      cmd update: -0.603561 deg/s,
      cmd heading: 60.835249 deg,
      new cmd heading: 61.460216 deg.

2021-08-14T14:50:40.618Z,1628952640.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:40.917Z,1628952640.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:40.917Z,1628952640.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:40.917Z,1628952640.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:40.918Z,1628952640.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:41.322Z,1628952641.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,004AF,186,80,80,72,FF
2021-08-14T14:50:41.322Z,1628952641.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:41.322Z,1628952641.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:41.324Z,1628952641.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:41.726Z,1628952641.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:42.125Z,1628952642.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00481,186,80,80,61,FF
2021-08-14T14:50:42.126Z,1628952642.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:42.146Z,1628952642.146 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:50:42.592Z,1628952642.592 [Micromodem](INFO): Nmea in: $SNTTA,0.023669,,,,145043.05*4A

2021-08-14T14:50:42.679Z,1628952642.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 63.964223 deg, deltaT: 4.035732 s, approachRate: -0.683891 m/s, LOS rate: 0.271618 deg/s, posRepo size: 4
2021-08-14T14:50:42.679Z,1628952642.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.68 m.
2021-08-14T14:50:42.686Z,1628952642.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.679998 m,
      bearing: 63.964223 deg,
      approachRate: -0.683891 m/s,
      LOS rate: 0.271618 deg/s,
      cmd update: 0.814854 deg/s,
      cmd heading: 58.399434 deg,
      new cmd heading: 58.075963 deg.

2021-08-14T14:50:44.674Z,1628952644.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:44.674Z,1628952644.674 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T14:50:44.674Z,1628952644.674 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T14:50:44.674Z,1628952644.674 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T14:50:44.675Z,1628952644.675 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T14:50:44.675Z,1628952644.675 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T14:50:45.029Z,1628952645.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:45.029Z,1628952645.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:45.029Z,1628952645.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:45.030Z,1628952645.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:45.255Z,1628952645.255 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761180000005D00000400320000000000000000151D80030C5669C08C7A9713063DEBE78B0704BB2BCA6E77E455A9483D550EB5EDCEBE5A97E1155574D0
2021-08-14T14:50:45.256Z,1628952645.256 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 807C435C0C8080
2021-08-14T14:50:45.256Z,1628952645.256 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T14:50:45.527Z,1628952645.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00481,186,80,80,61,FF
2021-08-14T14:50:45.527Z,1628952645.527 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:45.528Z,1628952645.528 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:45.529Z,1628952645.529 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T14:50:45.530Z,1628952645.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:45.915Z,1628952645.915 [Micromodem](INFO): Nmea in: $CADRQ,145046,1,10,0,64,1*74

2021-08-14T14:50:45.916Z,1628952645.916 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,145046,1,10,0,64,1*74

2021-08-14T14:50:46.330Z,1628952646.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:46.731Z,1628952646.731 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145047.26*59

2021-08-14T14:50:47.217Z,1628952647.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:49.203Z,1628952649.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,092C8,183,80,80,73,FF
2021-08-14T14:50:49.203Z,1628952649.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:49.260Z,1628952649.260 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:50:49.678Z,1628952649.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2217.060059 m, bearing: 59.914433 deg, deltaT: 7.114046 s, approachRate: 307.192291 m/s, LOS rate: -0.569267 deg/s, posRepo size: 4
2021-08-14T14:50:49.684Z,1628952649.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2217.060059 m,
      bearing: 59.914433 deg,
      approachRate: 307.192291 m/s,
      LOS rate: -0.569267 deg/s,
      cmd update: -1.707800 deg/s,
      cmd heading: 64.175207 deg,
      new cmd heading: 64.539630 deg.

2021-08-14T14:50:50.059Z,1628952650.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T14:50:50.059Z,1628952650.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:50:50.063Z,1628952650.063 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T14:50:50.064Z,1628952650.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:50:50.064Z,1628952650.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T14:50:50.064Z,1628952650.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T14:50:50.476Z,1628952650.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T14:50:50.476Z,1628952650.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:50:50.476Z,1628952650.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T14:50:50.476Z,1628952650.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T14:50:51.930Z,1628952651.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:52.317Z,1628952652.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:52.317Z,1628952652.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:52.317Z,1628952652.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:52.318Z,1628952652.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:52.732Z,1628952652.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,092C8,183,80,80,73,FF
2021-08-14T14:50:52.732Z,1628952652.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:52.732Z,1628952652.732 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:52.734Z,1628952652.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:53.121Z,1628952653.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:53.521Z,1628952653.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,0040D,185,80,80,3B,FF
2021-08-14T14:50:53.521Z,1628952653.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:53.957Z,1628952653.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145054.47*5C

2021-08-14T14:50:54.001Z,1628952654.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 58.695436 deg, deltaT: 4.528334 s, approachRate: -484.138336 m/s, LOS rate: -0.269193 deg/s, posRepo size: 4
2021-08-14T14:50:54.001Z,1628952654.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.72 m.
2021-08-14T14:50:54.002Z,1628952654.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 24.72 m.
2021-08-14T14:50:54.002Z,1628952654.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T14:50:54.008Z,1628952654.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 58.695436 deg,
      approachRate: -484.138336 m/s,
      LOS rate: -0.269193 deg/s,
      cmd update: -0.807580 deg/s,
      cmd heading: 56.403487 deg,
      new cmd heading: 56.036913 deg.

2021-08-14T14:50:54.373Z,1628952654.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:50:54.373Z,1628952654.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:50:54.374Z,1628952654.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:50:54.374Z,1628952654.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:50:54.374Z,1628952654.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:50:54.374Z,1628952654.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:50:54.824Z,1628952654.824 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:50:54.825Z,1628952654.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:50:54.825Z,1628952654.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:50:54.825Z,1628952654.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:50:56.385Z,1628952656.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:50:56.765Z,1628952656.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:50:56.765Z,1628952656.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:50:56.765Z,1628952656.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:50:56.766Z,1628952656.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:50:57.157Z,1628952657.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,0040D,185,80,80,3B,FF
2021-08-14T14:50:57.157Z,1628952657.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:50:57.158Z,1628952657.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:50:57.159Z,1628952657.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:50:57.560Z,1628952657.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:50:57.969Z,1628952657.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,003D4,187,80,80,9E,FF
2021-08-14T14:50:57.969Z,1628952657.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:50:58.217Z,1628952658.217 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:50:58.405Z,1628952658.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145058.89*52

2021-08-14T14:50:58.487Z,1628952658.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 62.688337 deg, deltaT: 4.428858 s, approachRate: -0.772209 m/s, LOS rate: 0.901564 deg/s, posRepo size: 4
2021-08-14T14:50:58.493Z,1628952658.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 62.688337 deg,
      approachRate: -0.772209 m/s,
      LOS rate: 0.901564 deg/s,
      cmd update: 2.704693 deg/s,
      cmd heading: 52.836732 deg,
      new cmd heading: 52.603703 deg.

2021-08-14T14:51:00.880Z,1628952660.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:01.205Z,1628952661.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:01.205Z,1628952661.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:01.205Z,1628952661.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:01.206Z,1628952661.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:01.609Z,1628952661.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,003D4,187,80,80,9E,FF
2021-08-14T14:51:01.609Z,1628952661.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:01.609Z,1628952661.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:01.611Z,1628952661.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:02.009Z,1628952662.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:02.413Z,1628952662.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,003AF,186,80,80,76,FF
2021-08-14T14:51:02.413Z,1628952662.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:02.481Z,1628952662.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:02.853Z,1628952662.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145103.34*5B

2021-08-14T14:51:02.937Z,1628952662.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 58.227376 deg, deltaT: 4.263908 s, approachRate: -0.520649 m/s, LOS rate: -1.046214 deg/s, posRepo size: 4
2021-08-14T14:51:02.939Z,1628952662.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.079998 m,
      bearing: 58.227376 deg,
      approachRate: -0.520649 m/s,
      LOS rate: -1.046214 deg/s,
      cmd update: -3.138642 deg/s,
      cmd heading: 64.401130 deg,
      new cmd heading: 65.642614 deg.

2021-08-14T14:51:05.318Z,1628952665.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:05.710Z,1628952665.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:05.710Z,1628952665.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:05.711Z,1628952665.711 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:05.711Z,1628952665.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:06.101Z,1628952666.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,003AF,186,80,80,76,FF
2021-08-14T14:51:06.101Z,1628952666.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:06.101Z,1628952666.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:06.103Z,1628952666.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:06.529Z,1628952666.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:07.021Z,1628952667.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01E,000,00376,185,80,80,9D,FF
2021-08-14T14:51:07.021Z,1628952667.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:07.042Z,1628952667.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:07.453Z,1628952667.453 [Micromodem](INFO): Nmea in: $SNTTA,0.037707,,,,145107.83*49

2021-08-14T14:51:07.496Z,1628952667.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 61.891022 deg, deltaT: 4.560883 s, approachRate: -0.749854 m/s, LOS rate: 0.803275 deg/s, posRepo size: 4
2021-08-14T14:51:07.498Z,1628952667.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 61.891022 deg,
      approachRate: -0.749854 m/s,
      LOS rate: 0.803275 deg/s,
      cmd update: 2.409826 deg/s,
      cmd heading: 50.073226 deg,
      new cmd heading: 48.639316 deg.

2021-08-14T14:51:09.878Z,1628952669.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:10.253Z,1628952670.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:10.253Z,1628952670.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:10.254Z,1628952670.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:10.255Z,1628952670.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:10.664Z,1628952670.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01E,000,00376,185,80,80,9D,FF
2021-08-14T14:51:10.665Z,1628952670.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:10.665Z,1628952670.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:10.666Z,1628952670.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:11.200Z,1628952671.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:11.590Z,1628952671.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00343,186,80,80,65,FF
2021-08-14T14:51:11.590Z,1628952671.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:11.656Z,1628952671.656 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:12.001Z,1628952672.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145112.40*58

2021-08-14T14:51:12.056Z,1628952672.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 63.229438 deg, deltaT: 4.614069 s, approachRate: -0.663190 m/s, LOS rate: 0.290073 deg/s, posRepo size: 4
2021-08-14T14:51:12.058Z,1628952672.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 63.229438 deg,
      approachRate: -0.663190 m/s,
      LOS rate: 0.290073 deg/s,
      cmd update: 0.870219 deg/s,
      cmd heading: 61.172478 deg,
      new cmd heading: 62.162461 deg.

2021-08-14T14:51:14.504Z,1628952674.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:14.853Z,1628952674.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:14.853Z,1628952674.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:14.854Z,1628952674.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:14.854Z,1628952674.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:15.257Z,1628952675.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00343,186,80,80,65,FF
2021-08-14T14:51:15.257Z,1628952675.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:15.257Z,1628952675.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:15.259Z,1628952675.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:15.675Z,1628952675.675 [Micromodem](INFO): Nmea in: $AERR,14511,ATA_TIMEOUT,1*48

2021-08-14T14:51:15.709Z,1628952675.709 [Micromodem](ERROR): Response from modem failed NMEA checksum: $AERR,14511,ATA_TIMEOUT,1*48
 expected 79
2021-08-14T14:51:15.709Z,1628952675.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:15.776Z,1628952675.776 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:51:16.069Z,1628952676.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00313,186,80,80,66,FF
2021-08-14T14:51:16.070Z,1628952676.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:16.075Z,1628952676.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:16.131Z,1628952676.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:16.505Z,1628952676.505 [Micromodem](INFO): Nmea in: $SNTTA,0.041796,,,,145116.99*4B

2021-08-14T14:51:16.606Z,1628952676.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.719998 m, bearing: 61.347386 deg, deltaT: 4.474567 s, approachRate: -0.643638 m/s, LOS rate: -0.420611 deg/s, posRepo size: 4
2021-08-14T14:51:16.612Z,1628952676.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.719998 m,
      bearing: 61.347386 deg,
      approachRate: -0.643638 m/s,
      LOS rate: -0.420611 deg/s,
      cmd update: -1.261833 deg/s,
      cmd heading: 65.055957 deg,
      new cmd heading: 65.489513 deg.

2021-08-14T14:51:18.961Z,1628952678.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:19.304Z,1628952679.304 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:19.304Z,1628952679.304 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:19.305Z,1628952679.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:19.306Z,1628952679.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:19.706Z,1628952679.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00313,186,80,80,66,FF
2021-08-14T14:51:19.706Z,1628952679.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:19.706Z,1628952679.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:19.709Z,1628952679.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:20.114Z,1628952680.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:20.513Z,1628952680.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,002E4,187,80,80,6E,FF
2021-08-14T14:51:20.514Z,1628952680.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:20.631Z,1628952680.631 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:20.957Z,1628952680.957 [Micromodem](INFO): Nmea in: $SNTTA,0.034838,,,,145121.44*46

2021-08-14T14:51:21.008Z,1628952681.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 60.237173 deg, deltaT: 4.512919 s, approachRate: -0.624872 m/s, LOS rate: -0.246008 deg/s, posRepo size: 4
2021-08-14T14:51:21.010Z,1628952681.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 60.237173 deg,
      approachRate: -0.624872 m/s,
      LOS rate: -0.246008 deg/s,
      cmd update: -0.738023 deg/s,
      cmd heading: 59.362079 deg,
      new cmd heading: 58.872344 deg.

2021-08-14T14:51:23.386Z,1628952683.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:23.757Z,1628952683.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:23.757Z,1628952683.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:23.757Z,1628952683.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:23.758Z,1628952683.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:24.162Z,1628952684.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,002E4,187,80,80,6E,FF
2021-08-14T14:51:24.162Z,1628952684.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:24.162Z,1628952684.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:24.165Z,1628952684.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:24.571Z,1628952684.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:24.966Z,1628952684.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,002C0,183,80,80,96,FF
2021-08-14T14:51:24.966Z,1628952684.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:25.039Z,1628952685.039 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:25.385Z,1628952685.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145125.89*59

2021-08-14T14:51:25.443Z,1628952685.443 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T14:51:25.444Z,1628952685.444 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:51:25.445Z,1628952685.445 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T14:51:25.446Z,1628952685.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:51:25.446Z,1628952685.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T14:51:25.449Z,1628952685.449 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-14T14:51:25.449Z,1628952685.449 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T14:51:25.449Z,1628952685.449 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T14:51:25.450Z,1628952685.450 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T14:51:25.476Z,1628952685.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 63.818576 deg, deltaT: 4.395156 s, approachRate: -0.491450 m/s, LOS rate: 0.814852 deg/s, posRepo size: 4
2021-08-14T14:51:25.478Z,1628952685.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 63.818576 deg,
      approachRate: -0.491450 m/s,
      LOS rate: 0.814852 deg/s,
      cmd update: 2.444557 deg/s,
      cmd heading: 56.108998 deg,
      new cmd heading: 55.793521 deg.

2021-08-14T14:51:26.016Z,1628952686.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T145126: (41.552319, -70.708603)
2021-08-14T14:51:26.016Z,1628952686.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T14:51:26.016Z,1628952686.016 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T14:51:26.017Z,1628952686.017 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:51:26.017Z,1628952686.017 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T14:51:26.017Z,1628952686.017 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:51:26.017Z,1628952686.017 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T14:51:26.017Z,1628952686.017 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T14:51:26.017Z,1628952686.017 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:51:27.818Z,1628952687.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:28.200Z,1628952688.200 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:28.201Z,1628952688.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:28.201Z,1628952688.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:28.203Z,1628952688.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:28.629Z,1628952688.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,002C0,183,80,80,96,FF
2021-08-14T14:51:28.629Z,1628952688.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:28.629Z,1628952688.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:28.631Z,1628952688.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:29.091Z,1628952689.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:29.505Z,1628952689.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,002B1,189,80,80,78,FF
2021-08-14T14:51:29.505Z,1628952689.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:29.577Z,1628952689.577 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:29.905Z,1628952689.905 [Micromodem](INFO): Nmea in: $SNTTA,0.026472,,,,145130.36*42

2021-08-14T14:51:30.115Z,1628952690.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.839998 m, bearing: 13.520440 deg, deltaT: 4.538469 s, approachRate: -0.198305 m/s, LOS rate: -11.082621 deg/s, posRepo size: 4
2021-08-14T14:51:30.117Z,1628952690.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 13.520440 deg,
      approachRate: -0.198305 m/s,
      LOS rate: -11.082621 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 67.149812 deg,
      new cmd heading: 68.545864 deg.

2021-08-14T14:51:32.134Z,1628952692.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:32.361Z,1628952692.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:32.361Z,1628952692.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:32.361Z,1628952692.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:32.362Z,1628952692.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:32.773Z,1628952692.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,002B1,189,80,80,78,FF
2021-08-14T14:51:32.773Z,1628952692.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:32.773Z,1628952692.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:32.775Z,1628952692.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:33.245Z,1628952693.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:33.622Z,1628952693.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,002B0,189,80,80,6F,FF
2021-08-14T14:51:33.622Z,1628952693.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:33.686Z,1628952693.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:34.045Z,1628952694.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145134.51*5C

2021-08-14T14:51:34.061Z,1628952694.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 342.737663 deg, deltaT: 4.108940 s, approachRate: -0.014602 m/s, LOS rate: -7.491659 deg/s, posRepo size: 4
2021-08-14T14:51:34.063Z,1628952694.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 342.737663 deg,
      approachRate: -0.014602 m/s,
      LOS rate: -7.491659 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 17.542075 deg,
      new cmd heading: 12.954199 deg.

2021-08-14T14:51:34.508Z,1628952694.508 [DDM](ERROR): Could not parse whisker state
2021-08-14T14:51:36.250Z,1628952696.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:36.564Z,1628952696.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:36.565Z,1628952696.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:36.565Z,1628952696.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:36.567Z,1628952696.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:36.957Z,1628952696.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,002B0,189,80,80,6F,FF
2021-08-14T14:51:36.957Z,1628952696.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:36.957Z,1628952696.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:36.959Z,1628952696.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:37.372Z,1628952697.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:37.769Z,1628952697.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,002B1,186,80,80,88,FF
2021-08-14T14:51:37.769Z,1628952697.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:37.841Z,1628952697.841 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:38.198Z,1628952698.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145138.69*5B

2021-08-14T14:51:38.392Z,1628952698.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.839998 m, bearing: 323.592260 deg, deltaT: 4.155201 s, approachRate: 0.014440 m/s, LOS rate: -4.607576 deg/s, posRepo size: 4
2021-08-14T14:51:38.394Z,1628952698.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 323.592260 deg,
      approachRate: 0.014440 m/s,
      LOS rate: -4.607576 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 327.619350 deg,
      new cmd heading: 320.981333 deg.

2021-08-14T14:51:40.744Z,1628952700.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:41.077Z,1628952701.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:41.077Z,1628952701.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:41.077Z,1628952701.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:41.078Z,1628952701.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:41.509Z,1628952701.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,002B1,186,80,80,88,FF
2021-08-14T14:51:41.509Z,1628952701.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:41.509Z,1628952701.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:41.511Z,1628952701.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:41.897Z,1628952701.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:42.293Z,1628952702.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,002B0,187,80,80,82,FF
2021-08-14T14:51:42.293Z,1628952702.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:42.602Z,1628952702.602 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:42.798Z,1628952702.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145143.24*5E

2021-08-14T14:51:42.873Z,1628952702.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 7.904929 deg, deltaT: 4.760668 s, approachRate: -0.012603 m/s, LOS rate: 9.308078 deg/s, posRepo size: 4
2021-08-14T14:51:42.874Z,1628952702.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.78 m.
2021-08-14T14:51:42.880Z,1628952702.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 7.904929 deg,
      approachRate: -0.012603 m/s,
      LOS rate: 9.308078 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 270.491824 deg,
      new cmd heading: 267.250576 deg.

2021-08-14T14:51:45.355Z,1628952705.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:45.746Z,1628952705.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:45.746Z,1628952705.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:45.746Z,1628952705.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:45.747Z,1628952705.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:46.141Z,1628952706.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,002B0,187,80,80,82,FF
2021-08-14T14:51:46.142Z,1628952706.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:46.142Z,1628952706.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:46.143Z,1628952706.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:46.585Z,1628952706.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:46.974Z,1628952706.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB1,000,002B1,186,80,80,A7,FF
2021-08-14T14:51:46.975Z,1628952706.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:47.029Z,1628952707.029 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:51:47.390Z,1628952707.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145147.88*5C

2021-08-14T14:51:47.410Z,1628952707.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.839998 m, bearing: 339.996899 deg, deltaT: 4.426528 s, approachRate: 0.013555 m/s, LOS rate: -6.304723 deg/s, posRepo size: 4
2021-08-14T14:51:47.411Z,1628952707.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.84 m. Cable present.
2021-08-14T14:51:47.411Z,1628952707.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T14:51:47.411Z,1628952707.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T14:51:47.411Z,1628952707.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-14T14:51:47.781Z,1628952707.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-14T14:51:47.782Z,1628952707.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-14T14:51:47.782Z,1628952707.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-14T14:51:48.202Z,1628952708.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-14T14:51:48.203Z,1628952708.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T14:51:48.203Z,1628952708.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T14:51:48.204Z,1628952708.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T14:51:48.204Z,1628952708.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T14:51:48.204Z,1628952708.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T14:51:48.204Z,1628952708.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T14:51:48.204Z,1628952708.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T14:51:48.827Z,1628952708.827 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T14:51:48.827Z,1628952708.827 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T14:51:48.827Z,1628952708.827 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T14:51:48.827Z,1628952708.827 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T14:51:48.827Z,1628952708.827 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T14:51:48.827Z,1628952708.827 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T14:51:48.828Z,1628952708.828 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-14T14:51:48.828Z,1628952708.828 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T14:51:48.828Z,1628952708.828 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-14T14:51:48.829Z,1628952708.829 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T14:51:48.829Z,1628952708.829 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T14:51:48.829Z,1628952708.829 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T14:51:48.829Z,1628952708.829 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T14:51:48.829Z,1628952708.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T14:51:48.829Z,1628952708.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T14:51:48.830Z,1628952708.830 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-14T14:51:48.830Z,1628952708.830 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-14T14:51:49.017Z,1628952709.017 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-14T14:51:49.017Z,1628952709.017 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T14:51:49.853Z,1628952709.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:50.182Z,1628952710.182 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:50.182Z,1628952710.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:50.183Z,1628952710.183 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:50.183Z,1628952710.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:50.596Z,1628952710.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB1,000,002B1,186,80,80,A7,FF
2021-08-14T14:51:50.596Z,1628952710.596 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:50.596Z,1628952710.596 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:50.598Z,1628952710.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:51.166Z,1628952711.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:51:51.180Z,1628952711.180 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T14:51:51.571Z,1628952711.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,002B1,186,80,80,89,FF
2021-08-14T14:51:51.571Z,1628952711.571 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:51:51.785Z,1628952711.785 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761180000005D00000400320000000000000000151D80030C5669C08C7A9713063DEBE78B0704BB2BCA6E77E455A9483D550EB5EDCEBE5A97E1155574D0
2021-08-14T14:51:51.786Z,1628952711.786 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 807C435C0C8080
2021-08-14T14:51:51.787Z,1628952711.787 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T14:51:51.977Z,1628952711.977 [Micromodem](INFO): Nmea in: $SNTTA,0.028788,,,,145152.33*4B

2021-08-14T14:51:51.978Z,1628952711.978 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.028788,,,,145152.33*4B

2021-08-14T14:51:52.029Z,1628952712.029 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-14T14:51:52.029Z,1628952712.029 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-14T14:51:52.029Z,1628952712.029 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T14:51:52.030Z,1628952712.030 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-14T14:51:52.417Z,1628952712.417 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-14T14:51:52.417Z,1628952712.417 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-14T14:51:52.420Z,1628952712.420 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-14T14:51:52.420Z,1628952712.420 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T14:51:52.420Z,1628952712.420 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T14:51:52.420Z,1628952712.420 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T14:51:52.420Z,1628952712.420 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T14:51:52.420Z,1628952712.420 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T14:51:52.420Z,1628952712.420 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T14:51:52.421Z,1628952712.421 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T14:51:52.422Z,1628952712.422 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T14:51:52.785Z,1628952712.785 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,145153COPRC,0.20.0.3930*7C
 expected 2C
2021-08-14T14:51:52.786Z,1628952712.786 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T14:51:52.869Z,1628952712.869 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-14T14:51:52.869Z,1628952712.869 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T14:51:52.869Z,1628952712.869 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T14:51:52.869Z,1628952712.869 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-14T14:51:53.196Z,1628952713.196 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T14:51:53.217Z,1628952713.217 [lineCaptureDepth:Lap:C] Stopped
2021-08-14T14:51:53.217Z,1628952713.217 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-14T14:51:53.589Z,1628952713.589 [Micromodem](INFO): Nmea in: $CADRQ,145153,1,10,0,64,1*71

2021-08-14T14:51:53.590Z,1628952713.590 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761180000005D00000400320000000000000000151D80030C5669C08C7A9713063DEBE78B0704BB2BCA6E77E455A9483D550EB5EDCEBE5A97E1155574D0*4E

2021-08-14T14:51:53.727Z,1628952713.727 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-14T14:51:53.727Z,1628952713.727 [lineCaptureDepth:Lap:D] Stopped
2021-08-14T14:51:53.727Z,1628952713.727 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-14T14:51:53.727Z,1628952713.727 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-14T14:51:53.727Z,1628952713.727 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-14T14:51:54.005Z,1628952714.005 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T14:51:54.005Z,1628952714.005 [Micromodem](ERROR): TXD response from modem unexpected: $CACYC,0,1,10,1,0,2*68

2021-08-14T14:51:54.025Z,1628952714.025 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-14T14:51:54.026Z,1628952714.026 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-14T14:51:54.026Z,1628952714.026 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-14T14:51:54.026Z,1628952714.026 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-14T14:51:54.026Z,1628952714.026 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T14:51:54.027Z,1628952714.027 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-14T14:51:54.027Z,1628952714.027 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-14T14:51:54.390Z,1628952714.390 [Micromodem](INFO): Nmea in: $CADRQ,145154,1,10,0,64,1*76

2021-08-14T14:51:54.390Z,1628952714.390 [Micromodem](ERROR): TXD response from modem unexpected: $CADRQ,145154,1,10,0,64,1*76

2021-08-14T14:51:54.478Z,1628952714.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:54.795Z,1628952714.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:51:54.795Z,1628952714.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:51:54.795Z,1628952714.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:51:54.796Z,1628952714.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:51:54.802Z,1628952714.802 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T14:51:55.088Z,1628952715.088 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (5 active estimators).
2021-08-14T14:51:55.297Z,1628952715.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,002B1,186,80,80,89,FF
2021-08-14T14:51:55.297Z,1628952715.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:51:55.297Z,1628952715.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:51:55.299Z,1628952715.299 [Micromodem](INFO): Nmea in: $CADRQ,145155,1,10,0,64,2*74

2021-08-14T14:51:55.302Z,1628952715.302 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,807C435C0C8080*37

2021-08-14T14:51:55.627Z,1628952715.627 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-14T14:51:55.628Z,1628952715.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:51:56.038Z,1628952716.038 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-14T14:51:56.038Z,1628952716.038 [Micromodem](ERROR): Response from modem unexpected: $CATXP,71*74

2021-08-14T14:51:57.073Z,1628952717.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:51:58.634Z,1628952718.634 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-14T14:51:58.635Z,1628952718.635 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-14T14:51:59.034Z,1628952719.034 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,145157.008889,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*56

2021-08-14T14:51:59.034Z,1628952719.034 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,145157.008889,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*56

2021-08-14T14:51:59.860Z,1628952719.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:01.236Z,1628952721.236 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.439841
2021-08-14T14:52:01.245Z,1628952721.245 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T14:52:01.634Z,1628952721.634 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T14:52:01.635Z,1628952721.635 [Micromodem](INFO): Sent 63 bytes from file Logs/20210814T125729/Courier0024.lzma.parts
2021-08-14T14:52:01.636Z,1628952721.636 [Micromodem](INFO): Packets left to send: 0
2021-08-14T14:52:02.022Z,1628952722.022 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814145201.574109,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,32.0,13.54,23,-10.54,-01,0.00,51,14500,4000*6E

2021-08-14T14:52:02.022Z,1628952722.022 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814145201.574109,06,32767,45,0101,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,32.0,13.54,23,-10.54,-01,0.00,51,14500,4000*6E

2021-08-14T14:52:02.214Z,1628952722.214 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T14:52:02.214Z,1628952722.214 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T14:52:02.214Z,1628952722.214 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T14:52:02.214Z,1628952722.214 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T14:52:02.214Z,1628952722.214 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T14:52:02.512Z,1628952722.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:02.829Z,1628952722.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:02.829Z,1628952722.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:02.829Z,1628952722.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:02.830Z,1628952722.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:03.233Z,1628952723.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,002B1,186,80,80,89,FF
2021-08-14T14:52:03.233Z,1628952723.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:03.233Z,1628952723.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:05.394Z,1628952725.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:06.958Z,1628952726.958 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:07.365Z,1628952727.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:07.861Z,1628952727.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,002B2,189,80,80,70,FF
2021-08-14T14:52:07.862Z,1628952727.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:08.222Z,1628952728.222 [Micromodem](INFO): Nmea in: $SNTTA,0.047971,,,,145208.69*49

2021-08-14T14:52:09.021Z,1628952729.021 [PowerOnly](INFO): Powering down loadControl
2021-08-14T14:52:10.691Z,1628952730.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:11.029Z,1628952731.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:11.029Z,1628952731.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:11.029Z,1628952731.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:11.030Z,1628952731.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:11.426Z,1628952731.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,002B2,189,80,80,70,FF
2021-08-14T14:52:11.426Z,1628952731.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:11.427Z,1628952731.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:11.434Z,1628952731.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:11.837Z,1628952731.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:12.233Z,1628952732.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,002B2,187,80,80,84,FF
2021-08-14T14:52:12.234Z,1628952732.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:12.666Z,1628952732.666 [Micromodem](INFO): Nmea in: $SNTTA,0.062108,,,,145213.17*4B

2021-08-14T14:52:15.086Z,1628952735.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:15.497Z,1628952735.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:15.497Z,1628952735.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:15.497Z,1628952735.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:15.498Z,1628952735.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:15.869Z,1628952735.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,002B2,187,80,80,84,FF
2021-08-14T14:52:15.869Z,1628952735.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:15.869Z,1628952735.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:15.871Z,1628952735.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:16.244Z,1628952736.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:16.679Z,1628952736.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,002B5,188,80,80,88,FF
2021-08-14T14:52:16.679Z,1628952736.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:17.089Z,1628952737.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145217.60*5C

2021-08-14T14:52:19.529Z,1628952739.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:19.917Z,1628952739.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:19.917Z,1628952739.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:19.917Z,1628952739.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:19.918Z,1628952739.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:20.313Z,1628952740.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,002B5,188,80,80,88,FF
2021-08-14T14:52:20.313Z,1628952740.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:20.313Z,1628952740.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:20.315Z,1628952740.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:20.722Z,1628952740.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:21.125Z,1628952741.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,002B5,189,80,80,80,FF
2021-08-14T14:52:21.125Z,1628952741.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:21.557Z,1628952741.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145222.05*59

2021-08-14T14:52:23.963Z,1628952743.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:24.354Z,1628952744.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:24.354Z,1628952744.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:24.355Z,1628952744.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:24.356Z,1628952744.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:24.770Z,1628952744.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,002B5,189,80,80,80,FF
2021-08-14T14:52:24.770Z,1628952744.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:24.770Z,1628952744.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:24.772Z,1628952744.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:25.165Z,1628952745.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:25.561Z,1628952745.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,002B5,189,80,80,88,FF
2021-08-14T14:52:25.562Z,1628952745.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:25.998Z,1628952745.998 [Micromodem](INFO): Nmea in: $SNTTA,0.016240,,,,145226.51*43

2021-08-14T14:52:28.101Z,1628952748.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:28.397Z,1628952748.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:28.397Z,1628952748.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:28.397Z,1628952748.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:28.398Z,1628952748.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:28.797Z,1628952748.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,002B5,189,80,80,88,FF
2021-08-14T14:52:28.797Z,1628952748.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:28.797Z,1628952748.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:28.799Z,1628952748.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:29.205Z,1628952749.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:29.609Z,1628952749.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D95,000,002B6,189,80,80,86,FF
2021-08-14T14:52:29.609Z,1628952749.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:30.045Z,1628952750.045 [Micromodem](INFO): Nmea in: $SNTTA,0.027237,,,,145230.53*44

2021-08-14T14:52:32.492Z,1628952752.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:32.837Z,1628952752.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:32.837Z,1628952752.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:32.837Z,1628952752.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:32.838Z,1628952752.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:33.241Z,1628952753.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D95,000,002B6,189,80,80,86,FF
2021-08-14T14:52:33.241Z,1628952753.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:33.241Z,1628952753.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:33.243Z,1628952753.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:33.649Z,1628952753.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:34.069Z,1628952754.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,002B4,189,80,80,7D,FF
2021-08-14T14:52:34.070Z,1628952754.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:34.072Z,1628952754.072 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T14:52:34.521Z,1628952754.521 [Micromodem](INFO): Nmea in: $SNTTA,0.006031,,,,145234.98*40

2021-08-14T14:52:36.702Z,1628952756.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:36.989Z,1628952756.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:36.989Z,1628952756.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:36.990Z,1628952756.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:36.991Z,1628952756.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:37.372Z,1628952757.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,002B4,189,80,80,7D,FF
2021-08-14T14:52:37.372Z,1628952757.372 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:37.372Z,1628952757.372 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:37.374Z,1628952757.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:37.773Z,1628952757.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:38.281Z,1628952758.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,002B6,188,80,80,83,FF
2021-08-14T14:52:38.281Z,1628952758.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:38.638Z,1628952758.638 [Micromodem](INFO): Nmea in: $SNTTA,0.071913,,,,145239.11*45

2021-08-14T14:52:41.048Z,1628952761.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:41.447Z,1628952761.447 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:41.448Z,1628952761.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:41.449Z,1628952761.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:41.450Z,1628952761.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:41.846Z,1628952761.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,002B6,188,80,80,83,FF
2021-08-14T14:52:41.846Z,1628952761.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:41.846Z,1628952761.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:41.848Z,1628952761.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:42.249Z,1628952762.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:42.665Z,1628952762.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8E,000,002B5,189,80,80,7F,FF
2021-08-14T14:52:42.665Z,1628952762.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:42.669Z,1628952762.669 [Micromodem](INFO): Nmea in: $SNTTA,0.004718,0.288512,,,145243.58*58

2021-08-14T14:52:45.525Z,1628952765.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:45.881Z,1628952765.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:45.882Z,1628952765.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:45.882Z,1628952765.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:45.883Z,1628952765.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:46.286Z,1628952766.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8E,000,002B5,189,80,80,7F,FF
2021-08-14T14:52:46.286Z,1628952766.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:46.286Z,1628952766.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:46.288Z,1628952766.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:46.677Z,1628952766.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:47.093Z,1628952767.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,002B4,189,80,80,83,FF
2021-08-14T14:52:47.093Z,1628952767.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:47.501Z,1628952767.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145248.02*52

2021-08-14T14:52:49.944Z,1628952769.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:50.325Z,1628952770.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:50.325Z,1628952770.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:50.325Z,1628952770.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:50.326Z,1628952770.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:50.733Z,1628952770.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,002B4,189,80,80,83,FF
2021-08-14T14:52:50.733Z,1628952770.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:50.734Z,1628952770.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:50.735Z,1628952770.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:51.155Z,1628952771.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:51.537Z,1628952771.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,002B4,18A,80,80,7D,FF
2021-08-14T14:52:51.538Z,1628952771.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:51.965Z,1628952771.965 [Micromodem](INFO): Nmea in: $SNTTA,0.006448,,,,145252.47*48

2021-08-14T14:52:54.387Z,1628952774.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:54.765Z,1628952774.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:54.765Z,1628952774.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:54.765Z,1628952774.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:54.766Z,1628952774.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:55.174Z,1628952775.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,002B4,18A,80,80,7D,FF
2021-08-14T14:52:55.175Z,1628952775.175 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:55.175Z,1628952775.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:55.177Z,1628952775.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:55.604Z,1628952775.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:52:55.978Z,1628952775.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,002B4,189,80,80,7D,FF
2021-08-14T14:52:55.979Z,1628952775.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:52:58.510Z,1628952778.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:52:58.817Z,1628952778.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:52:58.817Z,1628952778.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:52:58.817Z,1628952778.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:52:58.818Z,1628952778.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:52:59.221Z,1628952779.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,002B4,189,80,80,7D,FF
2021-08-14T14:52:59.221Z,1628952779.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:52:59.221Z,1628952779.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:52:59.229Z,1628952779.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:52:59.637Z,1628952779.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:00.023Z,1628952780.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEC,000,002B4,188,80,80,7D,FF
2021-08-14T14:53:00.025Z,1628952780.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:00.461Z,1628952780.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145300.96*52

2021-08-14T14:53:02.888Z,1628952782.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:03.277Z,1628952783.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:03.277Z,1628952783.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:03.278Z,1628952783.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:03.278Z,1628952783.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:03.669Z,1628952783.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEC,000,002B4,188,80,80,7D,FF
2021-08-14T14:53:03.669Z,1628952783.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:03.669Z,1628952783.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:03.671Z,1628952783.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:04.081Z,1628952784.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:04.501Z,1628952784.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,002B4,189,80,80,78,FF
2021-08-14T14:53:04.501Z,1628952784.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:04.905Z,1628952784.905 [Micromodem](INFO): Nmea in: $SNTTA,0.005927,,,,145305.40*4B

2021-08-14T14:53:04.911Z,1628952784.911 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:53:07.315Z,1628952787.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:07.669Z,1628952787.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:07.669Z,1628952787.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:07.669Z,1628952787.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:07.670Z,1628952787.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:08.079Z,1628952788.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,002B4,189,80,80,78,FF
2021-08-14T14:53:08.079Z,1628952788.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:08.079Z,1628952788.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:08.082Z,1628952788.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:08.585Z,1628952788.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:08.918Z,1628952788.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,002B3,186,80,80,7D,FF
2021-08-14T14:53:08.918Z,1628952788.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:08.921Z,1628952788.921 [Micromodem](INFO): Nmea in: $SNTTA,0.006379,0.172573,,,145309.81*53

2021-08-14T14:53:11.762Z,1628952791.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:12.153Z,1628952792.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:12.153Z,1628952792.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:12.153Z,1628952792.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:12.154Z,1628952792.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:12.580Z,1628952792.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,002B3,186,80,80,7D,FF
2021-08-14T14:53:12.580Z,1628952792.580 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:12.580Z,1628952792.580 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:12.582Z,1628952792.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:12.959Z,1628952792.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:13.354Z,1628952793.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,002B3,18A,80,80,6E,FF
2021-08-14T14:53:13.354Z,1628952793.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:13.787Z,1628952793.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145314.31*5A

2021-08-14T14:53:16.206Z,1628952796.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:16.609Z,1628952796.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:16.609Z,1628952796.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:16.609Z,1628952796.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:16.610Z,1628952796.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:16.966Z,1628952796.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,002B3,18A,80,80,6E,FF
2021-08-14T14:53:16.966Z,1628952796.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:16.966Z,1628952796.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:16.969Z,1628952796.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:17.393Z,1628952797.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:17.766Z,1628952797.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,002B4,189,80,80,7A,FF
2021-08-14T14:53:17.766Z,1628952797.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:18.193Z,1628952798.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145318.70*53

2021-08-14T14:53:20.701Z,1628952800.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:21.030Z,1628952801.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:21.030Z,1628952801.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:21.030Z,1628952801.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:21.031Z,1628952801.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:21.440Z,1628952801.440 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,002B4,189,80,80,7A,FF
2021-08-14T14:53:21.441Z,1628952801.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:21.441Z,1628952801.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:21.447Z,1628952801.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:21.851Z,1628952801.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:22.249Z,1628952802.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,002B4,189,80,80,7D,FF
2021-08-14T14:53:22.250Z,1628952802.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:22.686Z,1628952802.686 [Micromodem](INFO): Nmea in: $SNTTA,0.036366,,,,145323.18*4D

2021-08-14T14:53:25.087Z,1628952805.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:25.493Z,1628952805.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:25.494Z,1628952805.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:25.494Z,1628952805.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:25.495Z,1628952805.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:25.878Z,1628952805.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,002B4,189,80,80,7D,FF
2021-08-14T14:53:25.878Z,1628952805.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:25.878Z,1628952805.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:25.880Z,1628952805.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:26.297Z,1628952806.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:26.694Z,1628952806.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,002B4,187,80,80,76,FF
2021-08-14T14:53:26.694Z,1628952806.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:26.699Z,1628952806.699 [Micromodem](INFO): Nmea in: $SNTTA,0.073724,0.229462,,,145327.62*50

2021-08-14T14:53:29.547Z,1628952809.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:29.917Z,1628952809.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:29.917Z,1628952809.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:29.917Z,1628952809.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:29.918Z,1628952809.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:30.329Z,1628952810.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,002B4,187,80,80,76,FF
2021-08-14T14:53:30.329Z,1628952810.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:30.329Z,1628952810.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:30.331Z,1628952810.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:30.737Z,1628952810.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:31.125Z,1628952811.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,002B5,187,80,80,76,FF
2021-08-14T14:53:31.126Z,1628952811.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:31.562Z,1628952811.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145332.07*5B

2021-08-14T14:53:33.971Z,1628952813.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:34.369Z,1628952814.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:34.369Z,1628952814.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:34.369Z,1628952814.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:34.370Z,1628952814.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:34.765Z,1628952814.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,002B5,187,80,80,76,FF
2021-08-14T14:53:34.765Z,1628952814.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:34.765Z,1628952814.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:34.767Z,1628952814.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:35.175Z,1628952815.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:35.573Z,1628952815.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,002B5,187,80,80,72,FF
2021-08-14T14:53:35.574Z,1628952815.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:36.014Z,1628952816.014 [Micromodem](INFO): Nmea in: $SNTTA,0.067286,,,,145336.50*4E

2021-08-14T14:53:38.401Z,1628952818.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:38.882Z,1628952818.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:38.883Z,1628952818.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:38.883Z,1628952818.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:38.884Z,1628952818.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:39.217Z,1628952819.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,002B5,187,80,80,72,FF
2021-08-14T14:53:39.217Z,1628952819.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:39.217Z,1628952819.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:39.219Z,1628952819.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:39.620Z,1628952819.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:40.029Z,1628952820.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,002B3,186,80,80,7D,FF
2021-08-14T14:53:40.030Z,1628952820.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:40.473Z,1628952820.473 [Micromodem](INFO): Nmea in: $SNTTA,0.002260,,,,145340.95*4D

2021-08-14T14:53:42.889Z,1628952822.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:43.249Z,1628952823.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:43.249Z,1628952823.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:43.249Z,1628952823.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:43.250Z,1628952823.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:43.653Z,1628952823.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,002B3,186,80,80,7D,FF
2021-08-14T14:53:43.653Z,1628952823.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:43.653Z,1628952823.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:43.655Z,1628952823.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:44.072Z,1628952824.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:44.493Z,1628952824.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,002B4,188,80,80,75,FF
2021-08-14T14:53:44.494Z,1628952824.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:44.897Z,1628952824.897 [Micromodem](INFO): Nmea in: $SNTTA,0.002336,,,,145345.39*4C

2021-08-14T14:53:47.279Z,1628952827.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:47.693Z,1628952827.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:47.694Z,1628952827.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:47.694Z,1628952827.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:47.695Z,1628952827.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:48.069Z,1628952828.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,002B4,188,80,80,75,FF
2021-08-14T14:53:48.069Z,1628952828.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:48.069Z,1628952828.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:48.071Z,1628952828.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:48.492Z,1628952828.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:48.981Z,1628952828.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,002B4,18A,80,80,70,FF
2021-08-14T14:53:48.982Z,1628952828.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:49.334Z,1628952829.334 [Micromodem](INFO): Nmea in: $SNTTA,0.178057,,,,145349.80*4A

2021-08-14T14:53:51.766Z,1628952831.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:52.137Z,1628952832.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:52.137Z,1628952832.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:52.137Z,1628952832.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:52.138Z,1628952832.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:52.552Z,1628952832.552 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,002B4,18A,80,80,70,FF
2021-08-14T14:53:52.553Z,1628952832.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:52.553Z,1628952832.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:52.559Z,1628952832.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:52.948Z,1628952832.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:53.354Z,1628952833.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,002B2,189,80,80,86,FF
2021-08-14T14:53:53.354Z,1628952833.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:53.781Z,1628952833.781 [Micromodem](INFO): Nmea in: $SNTTA,0.122726,,,,145354.29*4B

2021-08-14T14:53:56.191Z,1628952836.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:53:56.613Z,1628952836.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:53:56.613Z,1628952836.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:53:56.613Z,1628952836.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:53:56.614Z,1628952836.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:53:56.990Z,1628952836.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,002B2,189,80,80,86,FF
2021-08-14T14:53:56.990Z,1628952836.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:53:56.990Z,1628952836.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:53:56.992Z,1628952836.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:53:57.375Z,1628952837.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:53:57.793Z,1628952837.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,002B3,188,80,80,78,FF
2021-08-14T14:53:57.794Z,1628952837.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:53:58.193Z,1628952838.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145358.72*55

2021-08-14T14:54:00.679Z,1628952840.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:01.021Z,1628952841.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:01.021Z,1628952841.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:01.021Z,1628952841.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:01.022Z,1628952841.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:01.481Z,1628952841.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,002B3,188,80,80,78,FF
2021-08-14T14:54:01.481Z,1628952841.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:01.481Z,1628952841.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:01.483Z,1628952841.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:01.841Z,1628952841.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:02.237Z,1628952842.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,002B2,189,80,80,78,FF
2021-08-14T14:54:02.237Z,1628952842.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:02.671Z,1628952842.671 [Micromodem](INFO): Nmea in: $SNTTA,0.038483,,,,145403.22*43

2021-08-14T14:54:05.079Z,1628952845.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:05.497Z,1628952845.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:05.497Z,1628952845.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:05.497Z,1628952845.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:05.498Z,1628952845.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:05.873Z,1628952845.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,002B2,189,80,80,78,FF
2021-08-14T14:54:05.873Z,1628952845.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:05.873Z,1628952845.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:05.875Z,1628952845.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:06.280Z,1628952846.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:06.677Z,1628952846.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,002B5,188,80,80,72,FF
2021-08-14T14:54:06.678Z,1628952846.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:07.121Z,1628952847.121 [Micromodem](INFO): Nmea in: $SNTTA,0.006746,,,,145407.61*47

2021-08-14T14:54:09.552Z,1628952849.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:09.909Z,1628952849.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:09.909Z,1628952849.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:09.909Z,1628952849.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:09.910Z,1628952849.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:10.313Z,1628952850.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,002B5,188,80,80,72,FF
2021-08-14T14:54:10.313Z,1628952850.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:10.314Z,1628952850.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:10.315Z,1628952850.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:10.733Z,1628952850.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:11.125Z,1628952851.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,002B3,185,80,80,6C,FF
2021-08-14T14:54:11.125Z,1628952851.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:11.569Z,1628952851.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145412.05*5C

2021-08-14T14:54:11.576Z,1628952851.576 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:54:13.978Z,1628952853.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:14.354Z,1628952854.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:14.354Z,1628952854.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:14.354Z,1628952854.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:14.355Z,1628952854.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:14.765Z,1628952854.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,002B3,185,80,80,6C,FF
2021-08-14T14:54:14.765Z,1628952854.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:14.765Z,1628952854.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:14.767Z,1628952854.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:15.187Z,1628952855.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:15.581Z,1628952855.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,002B0,189,80,80,88,FF
2021-08-14T14:54:15.582Z,1628952855.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:16.002Z,1628952856.002 [Micromodem](INFO): Nmea in: $SNTTA,0.036652,,,,145416.50*42

2021-08-14T14:54:18.390Z,1628952858.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:18.773Z,1628952858.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:18.773Z,1628952858.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:18.773Z,1628952858.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:18.774Z,1628952858.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:19.277Z,1628952859.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDB,000,002B0,189,80,80,88,FF
2021-08-14T14:54:19.277Z,1628952859.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:19.278Z,1628952859.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:19.279Z,1628952859.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:19.612Z,1628952859.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:20.017Z,1628952860.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCC,000,002B5,189,80,80,7C,FF
2021-08-14T14:54:20.017Z,1628952860.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:20.835Z,1628952860.835 [Micromodem](INFO): Nmea in: $SNTTA,0.031797,,,,145421.01*4D

2021-08-14T14:54:21.645Z,1628952861.645 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:54:22.874Z,1628952862.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:23.253Z,1628952863.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:23.253Z,1628952863.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:23.254Z,1628952863.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:23.255Z,1628952863.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:23.649Z,1628952863.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCC,000,002B5,189,80,80,7C,FF
2021-08-14T14:54:23.649Z,1628952863.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:23.649Z,1628952863.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:23.651Z,1628952863.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:24.057Z,1628952864.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:24.467Z,1628952864.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,002B4,189,80,80,80,FF
2021-08-14T14:54:24.467Z,1628952864.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:24.899Z,1628952864.899 [Micromodem](INFO): Nmea in: $SNTTA,0.057153,,,,145425.38*4D

2021-08-14T14:54:27.307Z,1628952867.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:27.667Z,1628952867.667 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:27.667Z,1628952867.667 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:27.667Z,1628952867.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:27.668Z,1628952867.668 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:27.684Z,1628952867.684 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:54:28.093Z,1628952868.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,002B4,189,80,80,80,FF
2021-08-14T14:54:28.093Z,1628952868.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:28.093Z,1628952868.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:28.095Z,1628952868.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:28.479Z,1628952868.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:28.873Z,1628952868.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,002B2,186,80,80,6E,FF
2021-08-14T14:54:28.874Z,1628952868.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:29.407Z,1628952869.407 [Micromodem](INFO): Nmea in: $SNTTA,0.030293,,,,145429.83*4F

2021-08-14T14:54:31.755Z,1628952871.755 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:54:31.779Z,1628952871.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:32.133Z,1628952872.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:32.133Z,1628952872.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:32.133Z,1628952872.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:32.134Z,1628952872.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:32.554Z,1628952872.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,002B2,186,80,80,6E,FF
2021-08-14T14:54:32.554Z,1628952872.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:32.555Z,1628952872.555 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:32.561Z,1628952872.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:32.945Z,1628952872.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:33.349Z,1628952873.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,002B4,186,80,80,7E,FF
2021-08-14T14:54:33.349Z,1628952873.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:33.773Z,1628952873.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145434.29*56

2021-08-14T14:54:36.206Z,1628952876.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:36.621Z,1628952876.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:36.621Z,1628952876.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:36.621Z,1628952876.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:36.622Z,1628952876.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:36.687Z,1628952876.687 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:54:36.989Z,1628952876.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,002B4,186,80,80,7E,FF
2021-08-14T14:54:36.989Z,1628952876.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:36.989Z,1628952876.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:36.991Z,1628952876.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:37.402Z,1628952877.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:37.761Z,1628952877.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,002B3,18A,80,80,69,FF
2021-08-14T14:54:37.762Z,1628952877.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:38.221Z,1628952878.221 [Micromodem](INFO): Nmea in: $SNTTA,0.040180,,,,145438.73*46

2021-08-14T14:54:40.692Z,1628952880.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:41.025Z,1628952881.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:41.025Z,1628952881.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:41.026Z,1628952881.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:41.027Z,1628952881.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:41.467Z,1628952881.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,002B3,18A,80,80,69,FF
2021-08-14T14:54:41.467Z,1628952881.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:41.472Z,1628952881.472 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:41.474Z,1628952881.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:41.523Z,1628952881.523 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T14:54:41.848Z,1628952881.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:42.238Z,1628952882.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,002B4,186,80,80,77,FF
2021-08-14T14:54:42.238Z,1628952882.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:42.673Z,1628952882.673 [Micromodem](INFO): Nmea in: $SNTTA,0.017650,0.472578,,,145443.21*50

2021-08-14T14:54:45.101Z,1628952885.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:45.509Z,1628952885.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:45.509Z,1628952885.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:45.510Z,1628952885.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:45.511Z,1628952885.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:45.869Z,1628952885.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,002B4,186,80,80,77,FF
2021-08-14T14:54:45.869Z,1628952885.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:45.869Z,1628952885.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:45.871Z,1628952885.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:46.293Z,1628952886.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:46.686Z,1628952886.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,002B4,189,80,80,89,FF
2021-08-14T14:54:46.686Z,1628952886.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:47.120Z,1628952887.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145447.61*5E

2021-08-14T14:54:47.527Z,1628952887.527 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T14:54:49.610Z,1628952889.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:49.909Z,1628952889.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:49.909Z,1628952889.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:49.909Z,1628952889.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:49.910Z,1628952889.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:50.317Z,1628952890.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,002B4,189,80,80,89,FF
2021-08-14T14:54:50.317Z,1628952890.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:50.317Z,1628952890.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:50.319Z,1628952890.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:50.717Z,1628952890.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:51.129Z,1628952891.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,002B3,186,80,80,71,FF
2021-08-14T14:54:51.129Z,1628952891.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:51.561Z,1628952891.561 [Micromodem](INFO): Nmea in: $SNTTA,0.022229,,,,145452.05*4F

2021-08-14T14:54:51.581Z,1628952891.581 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T14:54:53.962Z,1628952893.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:54.353Z,1628952894.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:54.354Z,1628952894.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:54.354Z,1628952894.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:54.355Z,1628952894.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:54.761Z,1628952894.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,002B3,186,80,80,71,FF
2021-08-14T14:54:54.761Z,1628952894.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:54.761Z,1628952894.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:54.763Z,1628952894.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:55.169Z,1628952895.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:54:55.565Z,1628952895.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,002B3,189,80,80,7B,FF
2021-08-14T14:54:55.565Z,1628952895.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:54:56.002Z,1628952896.002 [Micromodem](INFO): Nmea in: $SNTTA,0.091384,,,,145456.50*45

2021-08-14T14:54:56.854Z,1628952896.854 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:54:58.419Z,1628952898.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:54:58.773Z,1628952898.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:54:58.773Z,1628952898.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:54:58.773Z,1628952898.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:54:58.774Z,1628952898.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:54:59.173Z,1628952899.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,002B3,189,80,80,7B,FF
2021-08-14T14:54:59.173Z,1628952899.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:54:59.173Z,1628952899.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:54:59.175Z,1628952899.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:54:59.682Z,1628952899.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:00.013Z,1628952900.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,002B5,187,80,80,81,FF
2021-08-14T14:55:00.014Z,1628952900.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:00.440Z,1628952900.440 [Micromodem](INFO): Nmea in: $SNTTA,0.065399,,,,145500.91*4D

2021-08-14T14:55:02.890Z,1628952902.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:03.237Z,1628952903.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:03.237Z,1628952903.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:03.237Z,1628952903.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:03.238Z,1628952903.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:03.641Z,1628952903.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,002B5,187,80,80,81,FF
2021-08-14T14:55:03.642Z,1628952903.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:03.642Z,1628952903.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:03.643Z,1628952903.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:04.053Z,1628952904.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:04.468Z,1628952904.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,002B3,188,80,80,70,FF
2021-08-14T14:55:04.469Z,1628952904.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:04.885Z,1628952904.885 [Micromodem](INFO): Nmea in: $SNTTA,0.006350,,,,145505.38*4B

2021-08-14T14:55:06.604Z,1628952906.604 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T14:55:06.604Z,1628952906.604 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T14:55:06.604Z,1628952906.604 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T14:55:06.661Z,1628952906.661 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T14:55:06.992Z,1628952906.992 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T14:55:07.299Z,1628952907.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:07.685Z,1628952907.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:07.686Z,1628952907.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:07.686Z,1628952907.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:07.687Z,1628952907.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:07.758Z,1628952907.758 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T14:55:07.758Z,1628952907.758 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T14:55:08.057Z,1628952908.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,002B3,188,80,80,70,FF
2021-08-14T14:55:08.057Z,1628952908.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:08.058Z,1628952908.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:08.059Z,1628952908.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:08.501Z,1628952908.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:08.869Z,1628952908.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,002B5,186,80,80,82,FF
2021-08-14T14:55:08.870Z,1628952908.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:08.873Z,1628952908.873 [Micromodem](INFO): Nmea in: $SNTTA,0.034852,0.139758,,,145509.79*55

2021-08-14T14:55:11.754Z,1628952911.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:12.133Z,1628952912.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:12.133Z,1628952912.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:12.134Z,1628952912.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:12.135Z,1628952912.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:12.553Z,1628952912.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,002B5,186,80,80,82,FF
2021-08-14T14:55:12.553Z,1628952912.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:12.554Z,1628952912.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:12.568Z,1628952912.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:12.945Z,1628952912.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:13.341Z,1628952913.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,002B4,189,80,80,71,FF
2021-08-14T14:55:13.342Z,1628952913.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:13.781Z,1628952913.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145514.30*5D

2021-08-14T14:55:16.182Z,1628952916.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:16.616Z,1628952916.616 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:16.617Z,1628952916.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:16.617Z,1628952916.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:16.618Z,1628952916.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:16.977Z,1628952916.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,002B4,189,80,80,71,FF
2021-08-14T14:55:16.977Z,1628952916.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:16.978Z,1628952916.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:16.979Z,1628952916.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:17.385Z,1628952917.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:17.789Z,1628952917.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,002B2,18A,80,80,65,FF
2021-08-14T14:55:17.789Z,1628952917.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:18.186Z,1628952918.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145518.71*54

2021-08-14T14:55:20.670Z,1628952920.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:21.021Z,1628952921.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:21.021Z,1628952921.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:21.021Z,1628952921.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:21.022Z,1628952921.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:21.430Z,1628952921.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D90,000,002B2,18A,80,80,65,FF
2021-08-14T14:55:21.430Z,1628952921.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:21.430Z,1628952921.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:21.431Z,1628952921.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:21.828Z,1628952921.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:22.230Z,1628952922.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,002B4,187,80,80,72,FF
2021-08-14T14:55:22.231Z,1628952922.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:22.669Z,1628952922.669 [Micromodem](INFO): Nmea in: $SNTTA,0.006461,,,,145523.17*47

2021-08-14T14:55:25.086Z,1628952925.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:25.465Z,1628952925.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:25.465Z,1628952925.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:25.465Z,1628952925.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:25.466Z,1628952925.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:25.869Z,1628952925.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,002B4,187,80,80,72,FF
2021-08-14T14:55:25.869Z,1628952925.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:25.869Z,1628952925.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:25.871Z,1628952925.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:26.269Z,1628952926.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:26.673Z,1628952926.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,002B5,189,80,80,69,FF
2021-08-14T14:55:26.674Z,1628952926.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:27.118Z,1628952927.118 [Micromodem](INFO): Nmea in: $SNTTA,0.040433,,,,145527.60*46

2021-08-14T14:55:29.493Z,1628952929.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:29.981Z,1628952929.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:29.981Z,1628952929.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:29.981Z,1628952929.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:29.982Z,1628952929.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:30.309Z,1628952930.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,002B5,189,80,80,69,FF
2021-08-14T14:55:30.309Z,1628952930.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:30.309Z,1628952930.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:30.311Z,1628952930.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:30.719Z,1628952930.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:31.117Z,1628952931.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,002B4,189,80,80,86,FF
2021-08-14T14:55:31.118Z,1628952931.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:33.977Z,1628952933.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:34.353Z,1628952934.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:34.354Z,1628952934.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:34.354Z,1628952934.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:34.355Z,1628952934.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:34.757Z,1628952934.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,002B4,189,80,80,86,FF
2021-08-14T14:55:34.757Z,1628952934.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:34.757Z,1628952934.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:34.759Z,1628952934.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:35.189Z,1628952935.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:35.561Z,1628952935.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,002B3,186,80,80,7C,FF
2021-08-14T14:55:35.561Z,1628952935.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:36.004Z,1628952936.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145536.49*53

2021-08-14T14:55:38.390Z,1628952938.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:38.793Z,1628952938.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:38.793Z,1628952938.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:38.793Z,1628952938.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:38.794Z,1628952938.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:39.195Z,1628952939.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,002B3,186,80,80,7C,FF
2021-08-14T14:55:39.195Z,1628952939.195 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:39.195Z,1628952939.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:39.197Z,1628952939.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:39.572Z,1628952939.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:40.081Z,1628952940.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,002B4,189,80,80,8C,FF
2021-08-14T14:55:40.082Z,1628952940.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:40.446Z,1628952940.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145540.93*55

2021-08-14T14:55:42.875Z,1628952942.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:43.237Z,1628952943.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:43.237Z,1628952943.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:43.237Z,1628952943.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:43.238Z,1628952943.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:43.645Z,1628952943.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,002B4,189,80,80,8C,FF
2021-08-14T14:55:43.645Z,1628952943.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:43.645Z,1628952943.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:43.647Z,1628952943.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:44.049Z,1628952944.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:44.453Z,1628952944.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,002B3,18A,80,80,8E,FF
2021-08-14T14:55:44.453Z,1628952944.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:44.885Z,1628952944.885 [Micromodem](INFO): Nmea in: $SNTTA,0.004625,,,,145545.38*4A

2021-08-14T14:55:47.317Z,1628952947.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:47.685Z,1628952947.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:47.686Z,1628952947.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:47.686Z,1628952947.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:47.687Z,1628952947.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:48.085Z,1628952948.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,002B3,18A,80,80,8E,FF
2021-08-14T14:55:48.085Z,1628952948.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:48.085Z,1628952948.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:48.087Z,1628952948.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:48.465Z,1628952948.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:48.897Z,1628952948.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,002B4,188,80,80,84,FF
2021-08-14T14:55:48.898Z,1628952948.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:49.293Z,1628952949.293 [Micromodem](INFO): Nmea in: $SNTTA,,0.043838,,,145549.82*46

2021-08-14T14:55:51.747Z,1628952951.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:52.129Z,1628952952.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:52.129Z,1628952952.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:52.130Z,1628952952.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:52.131Z,1628952952.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:52.552Z,1628952952.552 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,002B4,188,80,80,84,FF
2021-08-14T14:55:52.553Z,1628952952.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:52.553Z,1628952952.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:52.562Z,1628952952.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:52.949Z,1628952952.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:53.342Z,1628952953.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,002B4,186,80,80,7B,FF
2021-08-14T14:55:53.342Z,1628952953.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:53.769Z,1628952953.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145554.30*59

2021-08-14T14:55:56.224Z,1628952956.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:55:56.606Z,1628952956.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:55:56.606Z,1628952956.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:55:56.607Z,1628952956.607 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:55:56.608Z,1628952956.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:55:56.983Z,1628952956.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,002B4,186,80,80,7B,FF
2021-08-14T14:55:56.983Z,1628952956.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:55:56.983Z,1628952956.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:55:57.003Z,1628952957.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:55:57.390Z,1628952957.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:55:57.789Z,1628952957.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,002B3,187,80,80,7B,FF
2021-08-14T14:55:57.790Z,1628952957.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:55:58.212Z,1628952958.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145558.74*55

2021-08-14T14:56:00.655Z,1628952960.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:01.029Z,1628952961.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:01.029Z,1628952961.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:01.029Z,1628952961.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:01.030Z,1628952961.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:01.421Z,1628952961.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,002B3,187,80,80,7B,FF
2021-08-14T14:56:01.421Z,1628952961.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:01.421Z,1628952961.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:01.423Z,1628952961.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:01.841Z,1628952961.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:02.233Z,1628952962.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,002B4,189,80,80,7C,FF
2021-08-14T14:56:02.233Z,1628952962.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:02.674Z,1628952962.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145603.16*5C

2021-08-14T14:56:05.090Z,1628952965.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:05.457Z,1628952965.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:05.457Z,1628952965.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:05.457Z,1628952965.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:05.458Z,1628952965.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:05.865Z,1628952965.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,002B4,189,80,80,7C,FF
2021-08-14T14:56:05.865Z,1628952965.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:05.866Z,1628952965.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:05.869Z,1628952965.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:06.269Z,1628952966.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:06.673Z,1628952966.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,002B3,18A,80,80,71,FF
2021-08-14T14:56:06.674Z,1628952966.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:06.686Z,1628952966.686 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:56:07.105Z,1628952967.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145607.60*59

2021-08-14T14:56:09.492Z,1628952969.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:09.885Z,1628952969.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:09.885Z,1628952969.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:09.885Z,1628952969.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:09.886Z,1628952969.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:10.377Z,1628952970.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,002B3,18A,80,80,71,FF
2021-08-14T14:56:10.377Z,1628952970.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:10.377Z,1628952970.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:10.379Z,1628952970.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:10.715Z,1628952970.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:11.113Z,1628952971.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,002B3,189,80,80,93,FF
2021-08-14T14:56:11.113Z,1628952971.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:11.563Z,1628952971.563 [Micromodem](INFO): Nmea in: $SNTTA,0.004811,,,,145612.12*4A

2021-08-14T14:56:13.983Z,1628952973.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:14.345Z,1628952974.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:14.345Z,1628952974.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:14.345Z,1628952974.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:14.346Z,1628952974.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:14.762Z,1628952974.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,002B3,189,80,80,93,FF
2021-08-14T14:56:14.762Z,1628952974.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:14.762Z,1628952974.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:14.765Z,1628952974.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:15.186Z,1628952975.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:15.561Z,1628952975.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD6,000,002B4,189,80,80,83,FF
2021-08-14T14:56:15.562Z,1628952975.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:16.793Z,1628952976.793 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:56:18.423Z,1628952978.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:18.771Z,1628952978.771 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:18.771Z,1628952978.771 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:18.771Z,1628952978.771 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:18.772Z,1628952978.772 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:19.221Z,1628952979.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD6,000,002B4,189,80,80,83,FF
2021-08-14T14:56:19.221Z,1628952979.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:19.221Z,1628952979.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:19.223Z,1628952979.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:19.570Z,1628952979.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:19.969Z,1628952979.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,002B4,188,80,80,77,FF
2021-08-14T14:56:19.970Z,1628952979.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:20.499Z,1628952980.499 [Micromodem](INFO): Nmea in: $SNTTA,0.019048,,,,145620.96*4F

2021-08-14T14:56:22.875Z,1628952982.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:23.237Z,1628952983.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:23.237Z,1628952983.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:23.237Z,1628952983.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:23.238Z,1628952983.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:23.637Z,1628952983.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,002B4,188,80,80,77,FF
2021-08-14T14:56:23.637Z,1628952983.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:23.637Z,1628952983.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:23.639Z,1628952983.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:24.045Z,1628952984.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:24.453Z,1628952984.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,002B4,189,80,80,66,FF
2021-08-14T14:56:24.453Z,1628952984.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:24.873Z,1628952984.873 [Micromodem](INFO): Nmea in: $SNTTA,0.040746,,,,145625.38*4B

2021-08-14T14:56:26.094Z,1628952986.094 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T14:56:26.094Z,1628952986.094 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:56:26.095Z,1628952986.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T14:56:26.095Z,1628952986.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:56:26.095Z,1628952986.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T14:56:26.095Z,1628952986.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-08-14T14:56:26.095Z,1628952986.095 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T14:56:26.112Z,1628952986.112 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T14:56:26.112Z,1628952986.112 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T145626: (41.552319, -70.708603)
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T14:56:26.586Z,1628952986.586 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T14:56:26.587Z,1628952986.587 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T14:56:26.898Z,1628952986.898 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:56:27.297Z,1628952987.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:27.677Z,1628952987.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:27.677Z,1628952987.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:27.677Z,1628952987.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:27.678Z,1628952987.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:28.089Z,1628952988.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,002B4,189,80,80,66,FF
2021-08-14T14:56:28.089Z,1628952988.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:28.089Z,1628952988.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:28.091Z,1628952988.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:28.499Z,1628952988.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:28.857Z,1628952988.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC5,000,002B3,189,80,80,67,FF
2021-08-14T14:56:28.858Z,1628952988.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:29.329Z,1628952989.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145629.83*58

2021-08-14T14:56:31.755Z,1628952991.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:32.117Z,1628952992.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:32.117Z,1628952992.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:32.117Z,1628952992.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:32.118Z,1628952992.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:32.540Z,1628952992.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC5,000,002B3,189,80,80,67,FF
2021-08-14T14:56:32.541Z,1628952992.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:32.541Z,1628952992.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:32.547Z,1628952992.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:32.941Z,1628952992.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:33.333Z,1628952993.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,002B4,188,80,80,7A,FF
2021-08-14T14:56:33.333Z,1628952993.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:33.770Z,1628952993.770 [Micromodem](INFO): Nmea in: $SNTTA,0.037748,,,,145634.29*45

2021-08-14T14:56:36.217Z,1628952996.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:36.618Z,1628952996.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:36.618Z,1628952996.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:36.619Z,1628952996.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:36.619Z,1628952996.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:36.977Z,1628952996.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,002B4,188,80,80,7A,FF
2021-08-14T14:56:36.977Z,1628952996.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:36.978Z,1628952996.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:36.979Z,1628952996.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:37.377Z,1628952997.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:37.781Z,1628952997.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,002B5,187,80,80,81,FF
2021-08-14T14:56:37.782Z,1628952997.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:40.719Z,1628953000.719 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-14T14:56:40.761Z,1628953000.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:41.013Z,1628953001.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:41.013Z,1628953001.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:41.013Z,1628953001.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:41.014Z,1628953001.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:41.413Z,1628953001.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,002B5,187,80,80,81,FF
2021-08-14T14:56:41.413Z,1628953001.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:41.413Z,1628953001.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:41.415Z,1628953001.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:41.824Z,1628953001.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:42.237Z,1628953002.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,002B3,189,80,80,80,FF
2021-08-14T14:56:42.238Z,1628953002.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:42.657Z,1628953002.657 [Micromodem](INFO): Nmea in: $SNTTA,0.028219,,,,145643.15*45

2021-08-14T14:56:45.066Z,1628953005.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:45.457Z,1628953005.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:45.457Z,1628953005.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:45.457Z,1628953005.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:45.458Z,1628953005.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:45.865Z,1628953005.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,002B3,189,80,80,80,FF
2021-08-14T14:56:45.866Z,1628953005.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:45.866Z,1628953005.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:45.867Z,1628953005.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:46.277Z,1628953006.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:46.677Z,1628953006.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,002B4,188,80,80,85,FF
2021-08-14T14:56:46.678Z,1628953006.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:47.093Z,1628953007.093 [Micromodem](INFO): Nmea in: $SNTTA,0.006861,,,,145647.60*4A

2021-08-14T14:56:49.521Z,1628953009.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:49.873Z,1628953009.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:49.873Z,1628953009.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:49.873Z,1628953009.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:49.874Z,1628953009.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:50.281Z,1628953010.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,002B4,188,80,80,85,FF
2021-08-14T14:56:50.281Z,1628953010.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:50.281Z,1628953010.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:50.283Z,1628953010.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:50.785Z,1628953010.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:51.122Z,1628953011.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,002B5,189,80,80,6F,FF
2021-08-14T14:56:51.122Z,1628953011.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:51.550Z,1628953011.550 [Micromodem](INFO): Nmea in: $SNTTA,0.019845,,,,145652.02*42

2021-08-14T14:56:53.955Z,1628953013.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:54.354Z,1628953014.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:54.354Z,1628953014.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:54.354Z,1628953014.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:54.355Z,1628953014.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:54.388Z,1628953014.388 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-14T14:51:54.0Z
2021-08-14T14:56:54.388Z,1628953014.388 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-14T14:56:54.388Z,1628953014.388 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-14T14:56:54.388Z,1628953014.388 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T14:56:54.388Z,1628953014.388 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-14T14:56:54.723Z,1628953014.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,002B5,189,80,80,6F,FF
2021-08-14T14:56:54.723Z,1628953014.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:54.724Z,1628953014.724 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:54.726Z,1628953014.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:54.853Z,1628953014.853 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.080000 m .
2021-08-14T14:56:54.853Z,1628953014.853 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-14T14:56:54.853Z,1628953014.853 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-14T14:56:54.853Z,1628953014.853 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-14T14:56:54.853Z,1628953014.853 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T14:56:55.188Z,1628953015.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:55.533Z,1628953015.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,002B4,18A,80,80,7B,FF
2021-08-14T14:56:55.534Z,1628953015.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:56:55.537Z,1628953015.537 [PowerOnly](INFO): Powering up loadControl
2021-08-14T14:56:55.969Z,1628953015.969 [Micromodem](INFO): Nmea in: $SNTTA,0.033733,,,,145656.46*40

2021-08-14T14:56:56.814Z,1628953016.814 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T14:56:58.453Z,1628953018.453 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-14T14:56:58.453Z,1628953018.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:56:58.793Z,1628953018.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:56:58.793Z,1628953018.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:56:58.793Z,1628953018.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:56:58.794Z,1628953018.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:56:58.867Z,1628953018.867 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T14:56:59.236Z,1628953019.236 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,002B4,18A,80,80,7B,FF
2021-08-14T14:56:59.237Z,1628953019.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:56:59.237Z,1628953019.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:56:59.238Z,1628953019.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:56:59.608Z,1628953019.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:56:59.651Z,1628953019.651 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -15.00 deg, mass-position 2.95 mm.
2021-08-14T14:56:59.652Z,1628953019.652 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 15.00 deg, mass-position 2.95 mm.
2021-08-14T14:57:00.013Z,1628953020.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,002B3,189,80,80,95,FF
2021-08-14T14:57:00.014Z,1628953020.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:00.427Z,1628953020.427 [Micromodem](INFO): Nmea in: $SNTTA,0.005995,,,,145700.97*49

2021-08-14T14:57:00.833Z,1628953020.833 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T14:57:02.876Z,1628953022.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:03.237Z,1628953023.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:03.237Z,1628953023.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:03.237Z,1628953023.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:03.238Z,1628953023.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:03.649Z,1628953023.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,002B3,189,80,80,95,FF
2021-08-14T14:57:03.649Z,1628953023.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:03.649Z,1628953023.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:03.651Z,1628953023.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:04.045Z,1628953024.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:04.450Z,1628953024.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,002B5,186,80,80,72,FF
2021-08-14T14:57:04.450Z,1628953024.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:04.894Z,1628953024.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145705.39*56

2021-08-14T14:57:07.319Z,1628953027.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:07.682Z,1628953027.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:07.682Z,1628953027.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:07.682Z,1628953027.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:07.683Z,1628953027.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:08.097Z,1628953028.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,002B5,186,80,80,72,FF
2021-08-14T14:57:08.097Z,1628953028.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:08.097Z,1628953028.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:08.099Z,1628953028.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:08.497Z,1628953028.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:08.901Z,1628953028.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,002BA,186,80,80,63,FF
2021-08-14T14:57:08.902Z,1628953028.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:08.941Z,1628953028.941 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-14T14:57:09.357Z,1628953029.357 [Micromodem](INFO): Nmea in: $SNTTA,0.027370,,,,145709.84*43

2021-08-14T14:57:11.751Z,1628953031.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:12.135Z,1628953032.135 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:12.135Z,1628953032.135 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:12.135Z,1628953032.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:12.136Z,1628953032.136 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:12.557Z,1628953032.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,002BA,186,80,80,63,FF
2021-08-14T14:57:12.557Z,1628953032.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:12.558Z,1628953032.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:12.577Z,1628953032.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:12.937Z,1628953032.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:13.341Z,1628953033.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,002C7,187,80,80,66,FF
2021-08-14T14:57:13.342Z,1628953033.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:13.348Z,1628953033.348 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T14:57:13.771Z,1628953033.771 [Micromodem](INFO): Nmea in: $SNTTA,0.032707,,,,145714.31*41

2021-08-14T14:57:16.218Z,1628953036.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:16.629Z,1628953036.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:16.629Z,1628953036.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:16.629Z,1628953036.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:16.630Z,1628953036.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:16.660Z,1628953036.660 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T14:57:16.973Z,1628953036.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,002C7,187,80,80,66,FF
2021-08-14T14:57:16.974Z,1628953036.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:16.974Z,1628953036.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:16.975Z,1628953036.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:17.385Z,1628953037.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:17.786Z,1628953037.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,002D1,187,80,80,67,FF
2021-08-14T14:57:17.786Z,1628953037.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:18.233Z,1628953038.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145718.72*55

2021-08-14T14:57:20.663Z,1628953040.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:21.022Z,1628953041.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:21.022Z,1628953041.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:21.022Z,1628953041.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:21.023Z,1628953041.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:21.429Z,1628953041.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,002D1,187,80,80,67,FF
2021-08-14T14:57:21.429Z,1628953041.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:21.430Z,1628953041.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:21.431Z,1628953041.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:21.829Z,1628953041.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:22.242Z,1628953042.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E4,000,002DC,189,80,80,7E,FF
2021-08-14T14:57:22.242Z,1628953042.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:22.661Z,1628953042.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145723.17*5E

2021-08-14T14:57:25.071Z,1628953045.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:25.473Z,1628953045.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:25.473Z,1628953045.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:25.473Z,1628953045.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:25.474Z,1628953045.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:25.869Z,1628953045.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E4,000,002DC,189,80,80,7E,FF
2021-08-14T14:57:25.870Z,1628953045.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:25.870Z,1628953045.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:25.871Z,1628953045.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:26.276Z,1628953046.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:26.673Z,1628953046.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,002E3,186,80,80,A1,FF
2021-08-14T14:57:26.674Z,1628953046.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:27.117Z,1628953047.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145727.61*5B

2021-08-14T14:57:29.548Z,1628953049.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:29.897Z,1628953049.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:29.897Z,1628953049.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:29.897Z,1628953049.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:29.898Z,1628953049.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:30.322Z,1628953050.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,002E3,186,80,80,A1,FF
2021-08-14T14:57:30.322Z,1628953050.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:30.322Z,1628953050.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:30.324Z,1628953050.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:30.746Z,1628953050.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:31.122Z,1628953051.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,002EE,186,80,80,A2,FF
2021-08-14T14:57:31.123Z,1628953051.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:31.541Z,1628953051.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145732.06*5E

2021-08-14T14:57:33.966Z,1628953053.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:34.345Z,1628953054.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:34.346Z,1628953054.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:34.346Z,1628953054.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:34.347Z,1628953054.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:34.753Z,1628953054.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,002EE,186,80,80,A2,FF
2021-08-14T14:57:34.753Z,1628953054.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:34.753Z,1628953054.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:34.755Z,1628953054.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:35.196Z,1628953055.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:35.557Z,1628953055.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,002F5,186,80,80,BB,FF
2021-08-14T14:57:35.557Z,1628953055.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:36.049Z,1628953056.049 [Micromodem](INFO): Nmea in: $SNTTA,0.026327,,,,145736.49*4D

2021-08-14T14:57:38.460Z,1628953058.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:38.785Z,1628953058.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:38.785Z,1628953058.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:38.785Z,1628953058.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:38.786Z,1628953058.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:39.222Z,1628953059.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,002F5,186,80,80,BB,FF
2021-08-14T14:57:39.222Z,1628953059.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:39.222Z,1628953059.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:39.253Z,1628953059.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:39.601Z,1628953059.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:40.007Z,1628953060.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00300,187,80,80,BB,FF
2021-08-14T14:57:40.007Z,1628953060.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:40.430Z,1628953060.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145740.99*5D

2021-08-14T14:57:42.863Z,1628953062.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:43.241Z,1628953063.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:43.241Z,1628953063.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:43.241Z,1628953063.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:43.242Z,1628953063.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:43.637Z,1628953063.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00300,187,80,80,BB,FF
2021-08-14T14:57:43.637Z,1628953063.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:43.637Z,1628953063.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:43.639Z,1628953063.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:44.048Z,1628953064.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:44.466Z,1628953064.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00308,186,80,80,C2,FF
2021-08-14T14:57:44.467Z,1628953064.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:44.894Z,1628953064.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145745.38*53

2021-08-14T14:57:47.315Z,1628953067.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:47.679Z,1628953067.679 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:47.679Z,1628953067.679 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:47.680Z,1628953067.680 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:47.681Z,1628953067.681 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:48.089Z,1628953068.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00308,186,80,80,C2,FF
2021-08-14T14:57:48.089Z,1628953068.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:48.089Z,1628953068.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:48.091Z,1628953068.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:48.497Z,1628953068.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:48.897Z,1628953068.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00311,187,80,80,C3,FF
2021-08-14T14:57:48.898Z,1628953068.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:49.333Z,1628953069.333 [Micromodem](INFO): Nmea in: $SNTTA,0.030431,,,,145749.83*44

2021-08-14T14:57:51.743Z,1628953071.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:52.125Z,1628953072.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:52.125Z,1628953072.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:52.126Z,1628953072.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:52.126Z,1628953072.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:52.537Z,1628953072.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00311,187,80,80,C3,FF
2021-08-14T14:57:52.537Z,1628953072.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:52.538Z,1628953072.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:52.551Z,1628953072.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:52.933Z,1628953072.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:53.342Z,1628953073.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00316,186,80,80,CE,FF
2021-08-14T14:57:53.342Z,1628953073.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:53.765Z,1628953073.765 [Micromodem](INFO): Nmea in: $SNTTA,0.024587,,,,145754.29*41

2021-08-14T14:57:56.217Z,1628953076.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:57:56.625Z,1628953076.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:57:56.627Z,1628953076.627 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:57:56.628Z,1628953076.628 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:57:56.633Z,1628953076.633 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:57:56.997Z,1628953076.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00316,186,80,80,CE,FF
2021-08-14T14:57:56.997Z,1628953076.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:57:56.997Z,1628953076.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:57:56.999Z,1628953076.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:57:57.400Z,1628953077.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:57:57.773Z,1628953077.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0031E,186,80,80,B6,FF
2021-08-14T14:57:57.774Z,1628953077.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:57:58.217Z,1628953078.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145758.74*57

2021-08-14T14:57:58.265Z,1628953078.265 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T14:58:00.668Z,1628953080.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:01.017Z,1628953081.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:01.018Z,1628953081.018 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:01.018Z,1628953081.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:01.019Z,1628953081.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:01.425Z,1628953081.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0031E,186,80,80,B6,FF
2021-08-14T14:58:01.425Z,1628953081.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:01.425Z,1628953081.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:01.427Z,1628953081.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:01.820Z,1628953081.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:02.245Z,1628953082.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00326,186,80,80,A6,FF
2021-08-14T14:58:02.246Z,1628953082.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:02.649Z,1628953082.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145803.16*52

2021-08-14T14:58:05.063Z,1628953085.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:05.457Z,1628953085.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:05.457Z,1628953085.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:05.457Z,1628953085.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:05.458Z,1628953085.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:05.857Z,1628953085.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00326,186,80,80,A6,FF
2021-08-14T14:58:05.857Z,1628953085.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:05.857Z,1628953085.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:05.859Z,1628953085.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:06.264Z,1628953086.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:06.677Z,1628953086.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,0032F,187,80,80,7A,FF
2021-08-14T14:58:06.677Z,1628953086.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:07.097Z,1628953087.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145807.60*57

2021-08-14T14:58:09.534Z,1628953089.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:09.893Z,1628953089.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:09.893Z,1628953089.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:09.893Z,1628953089.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:09.894Z,1628953089.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:10.301Z,1628953090.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,0032F,187,80,80,7A,FF
2021-08-14T14:58:10.301Z,1628953090.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:10.301Z,1628953090.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:10.303Z,1628953090.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:10.722Z,1628953090.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:11.113Z,1628953091.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,0033A,186,80,80,B6,FF
2021-08-14T14:58:11.114Z,1628953091.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:11.553Z,1628953091.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145812.04*51

2021-08-14T14:58:13.970Z,1628953093.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:14.341Z,1628953094.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:14.341Z,1628953094.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:14.341Z,1628953094.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:14.342Z,1628953094.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:14.757Z,1628953094.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,0033A,186,80,80,B6,FF
2021-08-14T14:58:14.757Z,1628953094.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:14.757Z,1628953094.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:14.759Z,1628953094.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:15.170Z,1628953095.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:15.554Z,1628953095.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,00342,187,80,80,A7,FF
2021-08-14T14:58:15.554Z,1628953095.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:15.990Z,1628953095.990 [Micromodem](INFO): Nmea in: $SNTTA,0.040528,,,,145816.50*41

2021-08-14T14:58:18.421Z,1628953098.421 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 12.54 m. Transitioning DDM to standby.
2021-08-14T14:58:18.422Z,1628953098.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:18.789Z,1628953098.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:18.789Z,1628953098.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:18.789Z,1628953098.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:18.790Z,1628953098.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:19.198Z,1628953099.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,00342,187,80,80,A7,FF
2021-08-14T14:58:19.198Z,1628953099.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:19.198Z,1628953099.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:19.200Z,1628953099.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:19.613Z,1628953099.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:20.001Z,1628953100.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,0034B,186,80,80,73,FF
2021-08-14T14:58:20.002Z,1628953100.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:20.441Z,1628953100.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145820.94*59

2021-08-14T14:58:20.882Z,1628953100.882 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-14T14:58:21.281Z,1628953101.281 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T14:58:21.281Z,1628953101.281 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-14T14:58:21.282Z,1628953101.282 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-14T14:58:21.282Z,1628953101.282 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-14T14:58:21.282Z,1628953101.282 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T14:58:21.282Z,1628953101.282 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-14T14:58:21.282Z,1628953101.282 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-14T14:58:21.282Z,1628953101.282 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-14T14:58:21.283Z,1628953101.283 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-14T14:58:21.283Z,1628953101.283 [lineCaptureDepth:Lap] Stopped
2021-08-14T14:58:21.283Z,1628953101.283 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T14:58:21.283Z,1628953101.283 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-14T14:58:21.283Z,1628953101.283 [lineCaptureDepth:Lap] Running Loop=2
2021-08-14T14:58:21.283Z,1628953101.283 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T14:58:21.283Z,1628953101.283 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T14:58:21.664Z,1628953101.664 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T14:58:21.664Z,1628953101.664 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T14:58:21.664Z,1628953101.664 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T14:58:22.072Z,1628953102.072 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T14:58:22.072Z,1628953102.072 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T14:58:22.072Z,1628953102.072 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T14:58:22.072Z,1628953102.072 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T14:58:22.072Z,1628953102.072 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T14:58:22.072Z,1628953102.072 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T14:58:22.073Z,1628953102.073 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T14:58:22.074Z,1628953102.074 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T14:58:22.075Z,1628953102.075 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T14:58:22.075Z,1628953102.075 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T14:58:22.075Z,1628953102.075 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T14:58:22.077Z,1628953102.077 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T14:58:22.077Z,1628953102.077 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T14:58:22.445Z,1628953102.445 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T14:58:22.445Z,1628953102.445 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T14:58:22.841Z,1628953102.841 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T14:58:22.842Z,1628953102.842 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T14:58:22.843Z,1628953102.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:23.215Z,1628953103.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:23.215Z,1628953103.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:23.215Z,1628953103.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:23.216Z,1628953103.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:23.255Z,1628953103.255 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T14:58:23.255Z,1628953103.255 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T14:58:23.602Z,1628953103.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,0034B,186,80,80,73,FF
2021-08-14T14:58:23.602Z,1628953103.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:23.602Z,1628953103.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:23.604Z,1628953103.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:23.669Z,1628953103.669 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T14:58:23.670Z,1628953103.670 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T14:58:23.670Z,1628953103.670 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T14:58:23.670Z,1628953103.670 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T14:58:23.671Z,1628953103.671 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T14:58:23.671Z,1628953103.671 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T14:58:23.671Z,1628953103.671 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T14:58:23.671Z,1628953103.671 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T14:58:23.676Z,1628953103.676 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T14:58:23.676Z,1628953103.676 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T14:58:23.677Z,1628953103.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T14:58:23.677Z,1628953103.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T14:58:23.677Z,1628953103.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T14:58:23.678Z,1628953103.678 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T14:58:23.678Z,1628953103.678 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T14:58:23.678Z,1628953103.678 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T14:58:23.679Z,1628953103.679 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T14:58:23.679Z,1628953103.679 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T14:58:23.680Z,1628953103.680 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T14:58:23.680Z,1628953103.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T14:58:23.680Z,1628953103.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T14:58:23.680Z,1628953103.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T14:58:23.681Z,1628953103.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T14:58:23.681Z,1628953103.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T14:58:23.681Z,1628953103.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T14:58:23.682Z,1628953103.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T14:58:23.682Z,1628953103.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T14:58:23.682Z,1628953103.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T14:58:24.021Z,1628953104.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:24.053Z,1628953104.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T14:58:24.054Z,1628953104.054 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T14:58:24.055Z,1628953104.055 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T14:58:24.055Z,1628953104.055 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T14:58:24.055Z,1628953104.055 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T14:58:24.055Z,1628953104.055 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T14:58:24.413Z,1628953104.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00353,186,80,80,98,FF
2021-08-14T14:58:24.414Z,1628953104.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:24.949Z,1628953104.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145825.35*57

2021-08-14T14:58:26.913Z,1628953106.913 [PowerOnly](INFO): Powering down loadControl
2021-08-14T14:58:27.310Z,1628953107.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:27.677Z,1628953107.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:27.677Z,1628953107.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:27.677Z,1628953107.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:27.678Z,1628953107.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:27.687Z,1628953107.687 [PowerOnly](INFO): Powering up loadControl
2021-08-14T14:58:28.081Z,1628953108.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00353,186,80,80,98,FF
2021-08-14T14:58:28.081Z,1628953108.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:28.081Z,1628953108.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:28.083Z,1628953108.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:28.484Z,1628953108.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:28.587Z,1628953108.587 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T14:58:28.894Z,1628953108.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F74,000,0035A,187,80,80,86,FF
2021-08-14T14:58:28.894Z,1628953108.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:28.930Z,1628953108.930 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T14:58:29.329Z,1628953109.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145829.82*57

2021-08-14T14:58:29.358Z,1628953109.358 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-14T14:58:29.742Z,1628953109.742 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T14:58:31.773Z,1628953111.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:32.117Z,1628953112.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:32.117Z,1628953112.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:32.117Z,1628953112.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:32.118Z,1628953112.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:32.528Z,1628953112.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F74,000,0035A,187,80,80,86,FF
2021-08-14T14:58:32.529Z,1628953112.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:32.530Z,1628953112.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:32.535Z,1628953112.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:32.937Z,1628953112.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:33.333Z,1628953113.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00361,186,80,80,A0,FF
2021-08-14T14:58:33.334Z,1628953113.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:33.766Z,1628953113.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145834.27*54

2021-08-14T14:58:36.222Z,1628953116.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:36.605Z,1628953116.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:36.605Z,1628953116.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:36.605Z,1628953116.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:36.606Z,1628953116.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:36.965Z,1628953116.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,00361,186,80,80,A0,FF
2021-08-14T14:58:36.965Z,1628953116.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:36.965Z,1628953116.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:36.967Z,1628953116.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:37.373Z,1628953117.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:37.773Z,1628953117.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00365,187,80,80,8C,FF
2021-08-14T14:58:37.774Z,1628953117.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:38.233Z,1628953118.233 [Micromodem](INFO): Nmea in: $SNTTA,0.032775,,,,145838.70*40

2021-08-14T14:58:40.670Z,1628953120.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:41.013Z,1628953121.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:41.013Z,1628953121.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:41.013Z,1628953121.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:41.014Z,1628953121.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:41.414Z,1628953121.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00365,187,80,80,8C,FF
2021-08-14T14:58:41.414Z,1628953121.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:41.414Z,1628953121.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:41.415Z,1628953121.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:41.820Z,1628953121.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:42.237Z,1628953122.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,0037F,186,80,80,7B,FF
2021-08-14T14:58:42.237Z,1628953122.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:42.666Z,1628953122.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145843.15*55

2021-08-14T14:58:45.092Z,1628953125.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:45.469Z,1628953125.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:45.469Z,1628953125.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:45.469Z,1628953125.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:45.470Z,1628953125.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:45.865Z,1628953125.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,0037F,186,80,80,7B,FF
2021-08-14T14:58:45.865Z,1628953125.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:45.865Z,1628953125.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:45.867Z,1628953125.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:46.271Z,1628953126.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:46.698Z,1628953126.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,00374,186,80,80,A5,FF
2021-08-14T14:58:46.699Z,1628953126.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:47.102Z,1628953127.102 [Micromodem](INFO): Nmea in: $SNTTA,0.053863,,,,145847.61*47

2021-08-14T14:58:49.530Z,1628953129.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:49.901Z,1628953129.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:49.901Z,1628953129.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:49.901Z,1628953129.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:49.902Z,1628953129.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:49.957Z,1628953129.957 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 15.54 m. Transitioning DDM to standby.
2021-08-14T14:58:50.301Z,1628953130.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,00374,186,80,80,A5,FF
2021-08-14T14:58:50.301Z,1628953130.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:50.301Z,1628953130.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:50.303Z,1628953130.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:50.741Z,1628953130.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:51.110Z,1628953131.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00379,186,80,80,9E,FF
2021-08-14T14:58:51.110Z,1628953131.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:51.553Z,1628953131.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145852.04*55

2021-08-14T14:58:52.389Z,1628953132.389 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T14:58:52.803Z,1628953132.803 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T14:58:52.804Z,1628953132.804 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T14:58:52.804Z,1628953132.804 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T14:58:53.192Z,1628953133.192 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T14:58:53.192Z,1628953133.192 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T14:58:53.192Z,1628953133.192 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T14:58:53.571Z,1628953133.571 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T14:58:53.571Z,1628953133.571 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T14:58:53.571Z,1628953133.571 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T14:58:53.572Z,1628953133.572 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T14:58:53.572Z,1628953133.572 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T14:58:53.951Z,1628953133.951 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T14:58:53.951Z,1628953133.951 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T14:58:53.951Z,1628953133.951 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T14:58:53.952Z,1628953133.952 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T14:58:53.952Z,1628953133.952 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T14:58:53.952Z,1628953133.952 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T14:58:53.953Z,1628953133.953 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T14:58:53.953Z,1628953133.953 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T14:58:53.953Z,1628953133.953 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T14:58:53.954Z,1628953133.954 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T14:58:53.955Z,1628953133.955 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T14:58:53.955Z,1628953133.955 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T14:58:53.955Z,1628953133.955 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 15.840000 m 
2021-08-14T14:58:53.955Z,1628953133.955 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T14:58:53.956Z,1628953133.956 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T14:58:53.957Z,1628953133.957 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T14:58:53.957Z,1628953133.957 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T14:58:53.957Z,1628953133.957 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T14:58:53.957Z,1628953133.957 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T14:58:53.959Z,1628953133.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:54.309Z,1628953134.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:54.309Z,1628953134.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:54.309Z,1628953134.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:54.310Z,1628953134.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:54.365Z,1628953134.365 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T14:58:54.365Z,1628953134.365 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T14:58:54.365Z,1628953134.365 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T14:58:54.365Z,1628953134.365 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T14:58:54.365Z,1628953134.365 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T14:58:54.365Z,1628953134.365 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T14:58:54.365Z,1628953134.365 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T14:58:54.366Z,1628953134.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T14:58:54.366Z,1628953134.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T14:58:54.366Z,1628953134.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T14:58:54.366Z,1628953134.366 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T14:58:54.751Z,1628953134.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00379,186,80,80,9E,FF
2021-08-14T14:58:54.751Z,1628953134.751 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:54.751Z,1628953134.751 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:54.758Z,1628953134.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:54.895Z,1628953134.895 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T14:58:54.895Z,1628953134.895 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T14:58:54.895Z,1628953134.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T14:58:54.900Z,1628953134.900 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:58:54.900Z,1628953134.900 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T14:58:54.901Z,1628953134.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T14:58:54.901Z,1628953134.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T14:58:54.901Z,1628953134.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T14:58:54.901Z,1628953134.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T14:58:54.902Z,1628953134.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T14:58:54.903Z,1628953134.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T14:58:54.903Z,1628953134.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T14:58:54.903Z,1628953134.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T14:58:54.908Z,1628953134.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T14:58:54.909Z,1628953134.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T14:58:54.909Z,1628953134.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T14:58:54.909Z,1628953134.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T14:58:54.910Z,1628953134.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T14:58:54.911Z,1628953134.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T14:58:54.911Z,1628953134.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T14:58:54.911Z,1628953134.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T14:58:54.916Z,1628953134.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T14:58:54.916Z,1628953134.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T14:58:54.918Z,1628953134.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-14T14:58:54.924Z,1628953134.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T14:58:54.924Z,1628953134.924 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T14:58:54.925Z,1628953134.925 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T14:58:54.925Z,1628953134.925 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T14:58:54.926Z,1628953134.926 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T14:58:54.926Z,1628953134.926 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T14:58:54.926Z,1628953134.926 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T14:58:54.926Z,1628953134.926 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T14:58:54.926Z,1628953134.926 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T14:58:54.927Z,1628953134.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T14:58:55.127Z,1628953135.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:55.187Z,1628953135.187 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T14:58:55.192Z,1628953135.192 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:58:55.193Z,1628953135.193 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T14:58:55.193Z,1628953135.193 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T14:58:55.202Z,1628953135.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.840000 m, bearing: 303.337744 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T14:58:55.202Z,1628953135.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.84 m.
2021-08-14T14:58:55.203Z,1628953135.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 303.337744deg and heading rate command to 0 deg/s.
2021-08-14T14:58:55.523Z,1628953135.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F03,000,00378,187,80,80,60,FF
2021-08-14T14:58:55.524Z,1628953135.524 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:55.621Z,1628953135.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:58:56.080Z,1628953136.080 [DDM](ERROR): Could not parse whisker state
2021-08-14T14:58:56.152Z,1628953136.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 302.546863 deg, deltaT: 4.493495 s, approachRate: -0.013353 m/s, LOS rate: -0.176006 deg/s, posRepo size: 2
2021-08-14T14:58:56.153Z,1628953136.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.78 m.
2021-08-14T14:58:56.155Z,1628953136.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 302.546863 deg,
      approachRate: -0.013353 m/s,
      LOS rate: -0.176006 deg/s,
      cmd update: -0.528017 deg/s,
      cmd heading: 303.337744 deg,
      new cmd heading: 303.337744 deg.

2021-08-14T14:58:58.326Z,1628953138.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:58:58.637Z,1628953138.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:58:58.637Z,1628953138.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:58:58.637Z,1628953138.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:58:58.637Z,1628953138.637 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:58:59.085Z,1628953139.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F03,000,00378,187,80,80,60,FF
2021-08-14T14:58:59.086Z,1628953139.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:58:59.086Z,1628953139.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:58:59.106Z,1628953139.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:58:59.497Z,1628953139.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:58:59.877Z,1628953139.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F08,000,0037F,186,80,80,89,FF
2021-08-14T14:58:59.877Z,1628953139.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:58:59.930Z,1628953139.930 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:00.299Z,1628953140.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145900.84*5B

2021-08-14T14:59:00.338Z,1628953140.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 304.798148 deg, deltaT: 4.309275 s, approachRate: 0.097464 m/s, LOS rate: 0.522428 deg/s, posRepo size: 3
2021-08-14T14:59:00.339Z,1628953140.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.20 m.
2021-08-14T14:59:00.341Z,1628953140.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 304.798148 deg,
      approachRate: 0.097464 m/s,
      LOS rate: 0.522428 deg/s,
      cmd update: 1.567283 deg/s,
      cmd heading: 301.059514 deg,
      new cmd heading: 300.840195 deg.

2021-08-14T14:59:02.792Z,1628953142.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:03.113Z,1628953143.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:03.113Z,1628953143.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:03.113Z,1628953143.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:03.114Z,1628953143.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:03.521Z,1628953143.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F08,000,0037F,186,80,80,89,FF
2021-08-14T14:59:03.521Z,1628953143.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:03.521Z,1628953143.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:03.523Z,1628953143.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:03.925Z,1628953143.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:04.321Z,1628953144.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,0036E,186,80,80,9A,FF
2021-08-14T14:59:04.322Z,1628953144.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:04.382Z,1628953144.382 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:04.773Z,1628953144.773 [Micromodem](INFO): Nmea in: $SNTTA,0.009904,,,,145905.26*4C

2021-08-14T14:59:04.828Z,1628953144.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 306.655850 deg, deltaT: 4.457257 s, approachRate: -0.228840 m/s, LOS rate: 0.416781 deg/s, posRepo size: 4
2021-08-14T14:59:04.829Z,1628953144.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.18 m.
2021-08-14T14:59:04.831Z,1628953144.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.179998 m,
      bearing: 306.655850 deg,
      approachRate: -0.228840 m/s,
      LOS rate: 0.416781 deg/s,
      cmd update: 1.250344 deg/s,
      cmd heading: 308.027438 deg,
      new cmd heading: 308.747438 deg.

2021-08-14T14:59:07.210Z,1628953147.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:07.561Z,1628953147.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:07.561Z,1628953147.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:07.561Z,1628953147.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:07.562Z,1628953147.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:07.957Z,1628953147.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,0036E,186,80,80,9A,FF
2021-08-14T14:59:07.957Z,1628953147.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:07.957Z,1628953147.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:07.959Z,1628953147.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:08.373Z,1628953148.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:08.769Z,1628953148.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,00353,185,80,80,B9,FF
2021-08-14T14:59:08.770Z,1628953148.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:08.855Z,1628953148.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:09.334Z,1628953149.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145909.70*59

2021-08-14T14:59:09.405Z,1628953149.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 306.796825 deg, deltaT: 4.467405 s, approachRate: -0.362626 m/s, LOS rate: 0.031556 deg/s, posRepo size: 4
2021-08-14T14:59:09.405Z,1628953149.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.56 m.
2021-08-14T14:59:09.406Z,1628953149.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 13.56 m.
2021-08-14T14:59:09.406Z,1628953149.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T14:59:09.412Z,1628953149.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 306.796825 deg,
      approachRate: -0.362626 m/s,
      LOS rate: 0.031556 deg/s,
      cmd update: 0.094669 deg/s,
      cmd heading: 313.627435 deg,
      new cmd heading: 314.318637 deg.

2021-08-14T14:59:11.725Z,1628953151.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:12.017Z,1628953152.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:12.017Z,1628953152.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:12.017Z,1628953152.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:12.018Z,1628953152.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:12.429Z,1628953152.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,00353,185,80,80,B9,FF
2021-08-14T14:59:12.429Z,1628953152.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:12.429Z,1628953152.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:12.431Z,1628953152.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:12.896Z,1628953152.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:13.285Z,1628953153.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,052,000,0032E,184,80,80,A4,FF
2021-08-14T14:59:13.286Z,1628953153.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:13.342Z,1628953153.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:13.702Z,1628953153.702 [Micromodem](INFO): Nmea in: $SNTTA,0.032544,,,,145914.17*4E

2021-08-14T14:59:13.739Z,1628953153.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 308.905714 deg, deltaT: 4.487300 s, approachRate: -0.494730 m/s, LOS rate: 0.469968 deg/s, posRepo size: 4
2021-08-14T14:59:13.741Z,1628953153.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 308.905714 deg,
      approachRate: -0.494730 m/s,
      LOS rate: 0.469968 deg/s,
      cmd update: 1.409905 deg/s,
      cmd heading: 314.052632 deg,
      new cmd heading: 314.090491 deg.

2021-08-14T14:59:16.143Z,1628953156.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:16.547Z,1628953156.547 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:16.548Z,1628953156.548 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:16.549Z,1628953156.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:16.550Z,1628953156.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:16.921Z,1628953156.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
052,000,0032E,184,80,80,A4,FF
2021-08-14T14:59:16.921Z,1628953156.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:16.921Z,1628953156.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:16.923Z,1628953156.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:17.333Z,1628953157.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:18.189Z,1628953158.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145918.66*5E

2021-08-14T14:59:18.979Z,1628953158.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:20.609Z,1628953160.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,184,80,80,A4,FF
2021-08-14T14:59:20.609Z,1628953160.609 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,184,80,80,A4,FF
2021-08-14T14:59:20.609Z,1628953160.609 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:59:21.798Z,1628953161.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:22.194Z,1628953162.194 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:22.194Z,1628953162.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:22.194Z,1628953162.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:22.195Z,1628953162.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:22.613Z,1628953162.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,184,80,80,A4,FF
2021-08-14T14:59:22.613Z,1628953162.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:22.613Z,1628953162.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:22.615Z,1628953162.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:22.993Z,1628953162.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:23.461Z,1628953163.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,002DF,186,80,80,A4,FF
2021-08-14T14:59:23.462Z,1628953163.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:23.492Z,1628953163.492 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:23.825Z,1628953163.825 [Micromodem](INFO): Nmea in: $SNTTA,0.023170,,,,145924.35*4E

2021-08-14T14:59:23.851Z,1628953163.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 310.428382 deg, deltaT: 10.150194 s, approachRate: -0.466986 m/s, LOS rate: 0.150014 deg/s, posRepo size: 4
2021-08-14T14:59:23.858Z,1628953163.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 310.428382 deg,
      approachRate: -0.466986 m/s,
      LOS rate: 0.150014 deg/s,
      cmd update: 0.450041 deg/s,
      cmd heading: 328.363232 deg,
      new cmd heading: 328.874257 deg.

2021-08-14T14:59:26.285Z,1628953166.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:26.633Z,1628953166.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:26.633Z,1628953166.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:26.633Z,1628953166.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:26.634Z,1628953166.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:27.082Z,1628953167.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,002DF,186,80,80,A4,FF
2021-08-14T14:59:27.082Z,1628953167.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:27.082Z,1628953167.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:27.084Z,1628953167.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:27.568Z,1628953167.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:27.949Z,1628953167.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,002CF,186,80,80,7E,FF
2021-08-14T14:59:27.949Z,1628953167.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:27.991Z,1628953167.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:28.381Z,1628953168.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145928.82*57

2021-08-14T14:59:28.434Z,1628953168.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 317.730401 deg, deltaT: 4.498581 s, approachRate: -0.213401 m/s, LOS rate: 1.623183 deg/s, posRepo size: 4
2021-08-14T14:59:28.444Z,1628953168.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 317.730401 deg,
      approachRate: -0.213401 m/s,
      LOS rate: 1.623183 deg/s,
      cmd update: 4.869548 deg/s,
      cmd heading: 330.385428 deg,
      new cmd heading: 330.588664 deg.

2021-08-14T14:59:30.843Z,1628953170.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:31.213Z,1628953171.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:31.213Z,1628953171.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:31.213Z,1628953171.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:31.214Z,1628953171.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:31.601Z,1628953171.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,002CF,186,80,80,7E,FF
2021-08-14T14:59:31.601Z,1628953171.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:31.602Z,1628953171.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:31.603Z,1628953171.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:32.006Z,1628953172.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:32.401Z,1628953172.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,002D4,186,80,80,BF,FF
2021-08-14T14:59:32.402Z,1628953172.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:32.460Z,1628953172.460 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:32.837Z,1628953172.837 [Micromodem](INFO): Nmea in: $SNTTA,0.036724,,,,145933.34*4A

2021-08-14T14:59:32.871Z,1628953172.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 325.347018 deg, deltaT: 4.468864 s, approachRate: 0.067132 m/s, LOS rate: 1.704374 deg/s, posRepo size: 4
2021-08-14T14:59:32.873Z,1628953172.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 325.347018 deg,
      approachRate: 0.067132 m/s,
      LOS rate: 1.704374 deg/s,
      cmd update: 5.113123 deg/s,
      cmd heading: 352.171829 deg,
      new cmd heading: 354.190758 deg.

2021-08-14T14:59:35.283Z,1628953175.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:35.629Z,1628953175.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:35.630Z,1628953175.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:35.630Z,1628953175.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:35.631Z,1628953175.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:36.033Z,1628953176.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,002D4,186,80,80,BF,FF
2021-08-14T14:59:36.033Z,1628953176.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:36.033Z,1628953176.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:36.035Z,1628953176.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:36.441Z,1628953176.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:36.837Z,1628953176.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00321,186,80,80,88,FF
2021-08-14T14:59:36.838Z,1628953176.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:36.906Z,1628953176.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:37.350Z,1628953177.350 [Micromodem](INFO): Nmea in: $SNTTA,0.192487,,,,145937.77*4C

2021-08-14T14:59:37.377Z,1628953177.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 340.463456 deg, deltaT: 4.445625 s, approachRate: 1.039224 m/s, LOS rate: 3.400295 deg/s, posRepo size: 4
2021-08-14T14:59:37.379Z,1628953177.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 340.463456 deg,
      approachRate: 1.039224 m/s,
      LOS rate: 3.400295 deg/s,
      cmd update: 10.200886 deg/s,
      cmd heading: 14.761397 deg,
      new cmd heading: 17.330982 deg.

2021-08-14T14:59:39.719Z,1628953179.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:40.077Z,1628953180.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:40.078Z,1628953180.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:40.078Z,1628953180.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:40.079Z,1628953180.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:40.473Z,1628953180.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00321,186,80,80,88,FF
2021-08-14T14:59:40.473Z,1628953180.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:40.473Z,1628953180.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:40.475Z,1628953180.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:40.880Z,1628953180.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:41.281Z,1628953181.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00328,186,80,80,74,FF
2021-08-14T14:59:41.282Z,1628953181.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:41.386Z,1628953181.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:41.741Z,1628953181.741 [Micromodem](INFO): Nmea in: $SNTTA,0.063105,,,,145942.21*4D

2021-08-14T14:59:41.768Z,1628953181.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 23.627014 deg, deltaT: 4.480106 s, approachRate: 0.093748 m/s, LOS rate: 9.634496 deg/s, posRepo size: 4
2021-08-14T14:59:41.770Z,1628953181.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 23.627014 deg,
      approachRate: 0.093748 m/s,
      LOS rate: 9.634496 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 60.584848 deg,
      new cmd heading: 64.679667 deg.

2021-08-14T14:59:44.127Z,1628953184.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:44.537Z,1628953184.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:44.537Z,1628953184.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:44.538Z,1628953184.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:44.539Z,1628953184.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:44.917Z,1628953184.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00328,186,80,80,74,FF
2021-08-14T14:59:44.917Z,1628953184.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:44.917Z,1628953184.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:44.919Z,1628953184.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:45.329Z,1628953185.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:45.737Z,1628953185.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,0033D,182,80,80,B3,FF
2021-08-14T14:59:45.738Z,1628953185.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:45.763Z,1628953185.763 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:46.193Z,1628953186.193 [Micromodem](INFO): Nmea in: $SNTTA,0.030670,,,,145946.66*49

2021-08-14T14:59:46.219Z,1628953186.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.240001 m, bearing: 26.346522 deg, deltaT: 4.376913 s, approachRate: 0.287874 m/s, LOS rate: 0.621330 deg/s, posRepo size: 4
2021-08-14T14:59:46.221Z,1628953186.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 26.346522 deg,
      approachRate: 0.287874 m/s,
      LOS rate: 0.621330 deg/s,
      cmd update: 1.863991 deg/s,
      cmd heading: 113.299457 deg,
      new cmd heading: 118.812989 deg.

2021-08-14T14:59:48.641Z,1628953188.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:48.961Z,1628953188.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:48.961Z,1628953188.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:48.961Z,1628953188.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:48.962Z,1628953188.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:49.369Z,1628953189.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,0033D,182,80,80,B3,FF
2021-08-14T14:59:49.369Z,1628953189.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:49.369Z,1628953189.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:49.371Z,1628953189.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:49.773Z,1628953189.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:50.675Z,1628953190.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145951.11*53

2021-08-14T14:59:51.421Z,1628953191.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:53.009Z,1628953193.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,182,80,80,B3,FF
2021-08-14T14:59:53.009Z,1628953193.009 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,182,80,80,B3,FF
2021-08-14T14:59:53.009Z,1628953193.009 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T14:59:54.273Z,1628953194.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:54.617Z,1628953194.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:54.617Z,1628953194.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:54.617Z,1628953194.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:54.618Z,1628953194.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:55.033Z,1628953195.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,182,80,80,B3,FF
2021-08-14T14:59:55.033Z,1628953195.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:55.033Z,1628953195.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:55.035Z,1628953195.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:55.424Z,1628953195.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T14:59:55.834Z,1628953195.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00385,187,80,80,7D,FF
2021-08-14T14:59:55.834Z,1628953195.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T14:59:55.855Z,1628953195.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T14:59:56.265Z,1628953196.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145956.77*54

2021-08-14T14:59:56.327Z,1628953196.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 86.908700 deg, deltaT: 10.092014 s, approachRate: 0.428061 m/s, LOS rate: 6.001000 deg/s, posRepo size: 4
2021-08-14T14:59:56.333Z,1628953196.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 86.908700 deg,
      approachRate: 0.428061 m/s,
      LOS rate: 6.001000 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 132.110933 deg,
      new cmd heading: 132.997698 deg.

2021-08-14T14:59:58.731Z,1628953198.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T14:59:59.065Z,1628953199.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T14:59:59.065Z,1628953199.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T14:59:59.065Z,1628953199.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T14:59:59.066Z,1628953199.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T14:59:59.074Z,1628953199.074 [PowerOnly](INFO): Powering down loadControl
2021-08-14T14:59:59.461Z,1628953199.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00385,187,80,80,7D,FF
2021-08-14T14:59:59.461Z,1628953199.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T14:59:59.462Z,1628953199.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T14:59:59.463Z,1628953199.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T14:59:59.876Z,1628953199.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:00.265Z,1628953200.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,0039D,186,80,80,90,FF
2021-08-14T15:00:00.266Z,1628953200.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:00.297Z,1628953200.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:00.757Z,1628953200.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150001.20*59

2021-08-14T15:00:00.813Z,1628953200.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 104.769522 deg, deltaT: 4.442030 s, approachRate: 0.324176 m/s, LOS rate: 4.020869 deg/s, posRepo size: 4
2021-08-14T15:00:00.815Z,1628953200.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.000000 m,
      bearing: 104.769522 deg,
      approachRate: 0.324176 m/s,
      LOS rate: 4.020869 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 185.410411 deg,
      new cmd heading: 191.646979 deg.

2021-08-14T15:00:03.119Z,1628953203.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:03.501Z,1628953203.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:03.501Z,1628953203.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:03.501Z,1628953203.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:03.502Z,1628953203.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:03.977Z,1628953203.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,0039D,186,80,80,90,FF
2021-08-14T15:00:03.977Z,1628953203.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:03.977Z,1628953203.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:03.979Z,1628953203.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:04.328Z,1628953204.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:04.733Z,1628953204.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,003AD,189,80,80,A9,FF
2021-08-14T15:00:04.733Z,1628953204.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:04.797Z,1628953204.797 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:05.257Z,1628953205.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150005.72*5A

2021-08-14T15:00:05.283Z,1628953205.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 131.067369 deg, deltaT: 4.500392 s, approachRate: 0.213315 m/s, LOS rate: 5.843457 deg/s, posRepo size: 4
2021-08-14T15:00:05.283Z,1628953205.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.96 m. Rolling out.
2021-08-14T15:00:05.284Z,1628953205.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:00:07.586Z,1628953207.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:07.946Z,1628953207.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:07.946Z,1628953207.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:07.946Z,1628953207.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:07.947Z,1628953207.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:08.361Z,1628953208.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,003AD,189,80,80,A9,FF
2021-08-14T15:00:08.361Z,1628953208.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:08.361Z,1628953208.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:08.363Z,1628953208.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:08.776Z,1628953208.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:09.164Z,1628953209.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,003C5,18A,80,80,3A,FF
2021-08-14T15:00:09.166Z,1628953209.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:09.230Z,1628953209.230 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:09.605Z,1628953209.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150010.10*5A

2021-08-14T15:00:09.620Z,1628953209.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 153.333034 deg, deltaT: 4.432948 s, approachRate: 0.324840 m/s, LOS rate: 5.022767 deg/s, posRepo size: 4
2021-08-14T15:00:12.014Z,1628953212.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:12.397Z,1628953212.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:12.397Z,1628953212.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:12.397Z,1628953212.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:12.398Z,1628953212.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:12.793Z,1628953212.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,003C5,18A,80,80,3A,FF
2021-08-14T15:00:12.793Z,1628953212.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:12.793Z,1628953212.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:12.795Z,1628953212.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:13.229Z,1628953213.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:13.609Z,1628953213.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,003C2,189,80,80,7F,FF
2021-08-14T15:00:13.610Z,1628953213.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:13.658Z,1628953213.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:14.122Z,1628953214.122 [Micromodem](INFO): Nmea in: $SNTTA,0.015589,,,,150014.53*47

2021-08-14T15:00:14.198Z,1628953214.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 169.168554 deg, deltaT: 4.427770 s, approachRate: -0.040653 m/s, LOS rate: 3.576410 deg/s, posRepo size: 4
2021-08-14T15:00:16.466Z,1628953216.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:16.845Z,1628953216.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:16.845Z,1628953216.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:16.845Z,1628953216.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:16.846Z,1628953216.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:17.241Z,1628953217.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,003C2,189,80,80,7F,FF
2021-08-14T15:00:17.241Z,1628953217.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:17.241Z,1628953217.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:17.243Z,1628953217.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:17.715Z,1628953217.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:18.065Z,1628953218.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,003C3,188,80,80,94,FF
2021-08-14T15:00:18.065Z,1628953218.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:18.107Z,1628953218.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:18.493Z,1628953218.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150018.98*52

2021-08-14T15:00:18.593Z,1628953218.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 184.529541 deg, deltaT: 4.449126 s, approachRate: 0.013487 m/s, LOS rate: 3.452585 deg/s, posRepo size: 4
2021-08-14T15:00:20.929Z,1628953220.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:21.281Z,1628953221.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:21.281Z,1628953221.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:21.281Z,1628953221.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:21.282Z,1628953221.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:21.698Z,1628953221.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,003C3,188,80,80,94,FF
2021-08-14T15:00:21.698Z,1628953221.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:21.698Z,1628953221.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:21.701Z,1628953221.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:22.089Z,1628953222.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:22.498Z,1628953222.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5C,000,003BC,189,80,80,A7,FF
2021-08-14T15:00:22.498Z,1628953222.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:22.603Z,1628953222.603 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:22.925Z,1628953222.925 [Micromodem](INFO): Nmea in: $SNTTA,0.063231,,,,150023.44*40

2021-08-14T15:00:23.040Z,1628953223.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 216.362129 deg, deltaT: 4.500743 s, approachRate: -0.093318 m/s, LOS rate: 7.072741 deg/s, posRepo size: 4
2021-08-14T15:00:25.341Z,1628953225.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:25.729Z,1628953225.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:25.729Z,1628953225.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:25.729Z,1628953225.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:25.730Z,1628953225.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:26.121Z,1628953226.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5C,000,003BC,189,80,80,A7,FF
2021-08-14T15:00:26.121Z,1628953226.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:26.122Z,1628953226.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:26.123Z,1628953226.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:26.573Z,1628953226.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:26.934Z,1628953226.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003AA,18A,80,80,93,FF
2021-08-14T15:00:26.934Z,1628953226.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:26.979Z,1628953226.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:27.377Z,1628953227.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150027.87*50

2021-08-14T15:00:27.403Z,1628953227.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 253.766144 deg, deltaT: 4.371012 s, approachRate: -0.247083 m/s, LOS rate: 8.557290 deg/s, posRepo size: 4
2021-08-14T15:00:29.794Z,1628953229.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:30.187Z,1628953230.187 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:30.187Z,1628953230.187 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:30.187Z,1628953230.187 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:30.193Z,1628953230.193 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:30.609Z,1628953230.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003AA,18A,80,80,93,FF
2021-08-14T15:00:30.609Z,1628953230.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:30.609Z,1628953230.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:30.611Z,1628953230.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:31.044Z,1628953231.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:31.402Z,1628953231.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6B,000,00397,188,80,80,B6,FF
2021-08-14T15:00:31.403Z,1628953231.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:31.461Z,1628953231.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:31.825Z,1628953231.825 [Micromodem](INFO): Nmea in: $SNTTA,0.055849,,,,150032.35*46

2021-08-14T15:00:31.855Z,1628953231.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 255.551173 deg, deltaT: 4.482510 s, approachRate: -0.254322 m/s, LOS rate: 0.398221 deg/s, posRepo size: 4
2021-08-14T15:00:34.264Z,1628953234.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:34.614Z,1628953234.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:34.614Z,1628953234.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:34.614Z,1628953234.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:34.616Z,1628953234.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:35.017Z,1628953235.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6B,000,00397,188,80,80,B6,FF
2021-08-14T15:00:35.017Z,1628953235.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:35.017Z,1628953235.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:35.019Z,1628953235.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:35.419Z,1628953235.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:36.267Z,1628953236.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150036.76*5E

2021-08-14T15:00:37.077Z,1628953237.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:38.661Z,1628953238.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,188,80,80,B6,FF
2021-08-14T15:00:38.661Z,1628953238.661 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,188,80,80,B6,FF
2021-08-14T15:00:38.661Z,1628953238.661 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:00:39.879Z,1628953239.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:40.260Z,1628953240.260 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:40.260Z,1628953240.260 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:40.260Z,1628953240.260 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:40.261Z,1628953240.261 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:40.684Z,1628953240.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,188,80,80,B6,FF
2021-08-14T15:00:40.685Z,1628953240.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:40.685Z,1628953240.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:40.716Z,1628953240.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:41.081Z,1628953241.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:41.477Z,1628953241.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,0034F,188,80,80,8A,FF
2021-08-14T15:00:41.477Z,1628953241.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:41.540Z,1628953241.540 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:41.951Z,1628953241.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 269.536887 deg, deltaT: 10.078961 s, approachRate: -0.428616 m/s, LOS rate: 1.387615 deg/s, posRepo size: 4
2021-08-14T15:00:42.297Z,1628953242.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150042.51*58

2021-08-14T15:00:44.415Z,1628953244.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:44.726Z,1628953244.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:44.726Z,1628953244.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:44.726Z,1628953244.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:44.727Z,1628953244.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:45.143Z,1628953245.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,0034F,188,80,80,8A,FF
2021-08-14T15:00:45.144Z,1628953245.144 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:45.145Z,1628953245.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:45.151Z,1628953245.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:45.533Z,1628953245.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:45.991Z,1628953245.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,0032C,189,80,80,9B,FF
2021-08-14T15:00:45.991Z,1628953245.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:46.021Z,1628953246.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:46.358Z,1628953246.358 [Micromodem](INFO): Nmea in: $SNTTA,0.039215,,,,150046.89*4B

2021-08-14T15:00:46.411Z,1628953246.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 273.548803 deg, deltaT: 4.481384 s, approachRate: -0.468604 m/s, LOS rate: 0.895241 deg/s, posRepo size: 4
2021-08-14T15:00:48.792Z,1628953248.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:49.156Z,1628953249.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:49.156Z,1628953249.156 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:49.157Z,1628953249.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:49.159Z,1628953249.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:49.549Z,1628953249.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,0032C,189,80,80,9B,FF
2021-08-14T15:00:49.549Z,1628953249.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:49.550Z,1628953249.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:49.551Z,1628953249.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:49.960Z,1628953249.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:50.361Z,1628953250.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB6,000,0030E,189,80,80,9C,FF
2021-08-14T15:00:50.362Z,1628953250.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:50.431Z,1628953250.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:50.806Z,1628953250.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150051.29*55

2021-08-14T15:00:50.876Z,1628953250.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 286.346283 deg, deltaT: 4.409958 s, approachRate: -0.408168 m/s, LOS rate: 2.901950 deg/s, posRepo size: 4
2021-08-14T15:00:53.253Z,1628953253.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:53.597Z,1628953253.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:53.597Z,1628953253.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:53.597Z,1628953253.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:53.598Z,1628953253.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:54.003Z,1628953254.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB6,000,0030E,189,80,80,9C,FF
2021-08-14T15:00:54.003Z,1628953254.003 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:54.003Z,1628953254.003 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:54.005Z,1628953254.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:54.409Z,1628953254.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:54.805Z,1628953254.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BCC,000,002F7,18A,80,80,8F,FF
2021-08-14T15:00:54.806Z,1628953254.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:54.873Z,1628953254.873 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:55.253Z,1628953255.253 [Micromodem](INFO): Nmea in: $SNTTA,0.036043,,,,150055.74*45

2021-08-14T15:00:55.300Z,1628953255.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 298.433231 deg, deltaT: 4.442128 s, approachRate: -0.310662 m/s, LOS rate: 2.720982 deg/s, posRepo size: 4
2021-08-14T15:00:57.732Z,1628953257.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:00:58.053Z,1628953258.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:00:58.053Z,1628953258.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:00:58.053Z,1628953258.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:00:58.054Z,1628953258.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:00:58.453Z,1628953258.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BCC,000,002F7,18A,80,80,8F,FF
2021-08-14T15:00:58.453Z,1628953258.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:00:58.453Z,1628953258.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:00:58.455Z,1628953258.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:00:58.927Z,1628953258.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:00:59.265Z,1628953259.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,002F4,188,80,80,9F,FF
2021-08-14T15:00:59.266Z,1628953259.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:00:59.311Z,1628953259.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:00:59.710Z,1628953259.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150100.19*53

2021-08-14T15:00:59.732Z,1628953259.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 273.308271 deg, deltaT: 4.437549 s, approachRate: -0.040563 m/s, LOS rate: -5.661900 deg/s, posRepo size: 4
2021-08-14T15:01:02.098Z,1628953262.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:02.481Z,1628953262.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:02.481Z,1628953262.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:02.481Z,1628953262.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:02.482Z,1628953262.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:02.893Z,1628953262.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,002F4,188,80,80,9F,FF
2021-08-14T15:01:02.894Z,1628953262.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:02.894Z,1628953262.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:02.895Z,1628953262.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:03.314Z,1628953263.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:03.691Z,1628953263.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,00302,186,80,80,B2,FF
2021-08-14T15:01:03.691Z,1628953263.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:03.719Z,1628953263.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:04.133Z,1628953264.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150104.63*5A

2021-08-14T15:01:04.208Z,1628953264.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 269.091258 deg, deltaT: 4.408010 s, approachRate: 0.190562 m/s, LOS rate: -0.956671 deg/s, posRepo size: 4
2021-08-14T15:01:06.626Z,1628953266.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:06.925Z,1628953266.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:06.925Z,1628953266.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:06.925Z,1628953266.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:06.926Z,1628953266.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:07.337Z,1628953267.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,00302,186,80,80,B2,FF
2021-08-14T15:01:07.337Z,1628953267.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:07.337Z,1628953267.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:07.339Z,1628953267.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:07.744Z,1628953267.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:08.149Z,1628953268.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00321,186,80,80,4C,FF
2021-08-14T15:01:08.150Z,1628953268.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:08.219Z,1628953268.219 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:08.621Z,1628953268.621 [Micromodem](INFO): Nmea in: $SNTTA,0.029745,,,,150109.08*49

2021-08-14T15:01:08.726Z,1628953268.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 266.461908 deg, deltaT: 4.499908 s, approachRate: 0.413342 m/s, LOS rate: -0.584312 deg/s, posRepo size: 4
2021-08-14T15:01:10.730Z,1628953270.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:10.997Z,1628953270.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:10.997Z,1628953270.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:10.997Z,1628953270.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:10.998Z,1628953270.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:11.040Z,1628953271.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00321,186,80,80,4C,FF
2021-08-14T15:01:11.040Z,1628953271.040 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:11.040Z,1628953271.040 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:11.042Z,1628953271.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:11.480Z,1628953271.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:11.838Z,1628953271.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,0033F,187,80,80,80,FF
2021-08-14T15:01:11.838Z,1628953271.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:11.878Z,1628953271.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:12.261Z,1628953272.261 [Micromodem](INFO): Nmea in: $SNTTA,0.078722,,,,150112.78*41

2021-08-14T15:01:12.308Z,1628953272.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 264.014843 deg, deltaT: 3.659188 s, approachRate: 0.491913 m/s, LOS rate: -0.668746 deg/s, posRepo size: 4
2021-08-14T15:01:14.675Z,1628953274.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:15.037Z,1628953275.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:15.037Z,1628953275.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:15.037Z,1628953275.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:15.038Z,1628953275.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:15.441Z,1628953275.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,0033F,187,80,80,80,FF
2021-08-14T15:01:15.441Z,1628953275.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:15.441Z,1628953275.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:15.443Z,1628953275.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:15.845Z,1628953275.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:16.245Z,1628953276.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00362,186,80,80,71,FF
2021-08-14T15:01:16.246Z,1628953276.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:16.275Z,1628953276.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:16.686Z,1628953276.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150117.18*54

2021-08-14T15:01:16.743Z,1628953276.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 258.801304 deg, deltaT: 4.397503 s, approachRate: 0.477543 m/s, LOS rate: -1.185568 deg/s, posRepo size: 4
2021-08-14T15:01:19.098Z,1628953279.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:19.477Z,1628953279.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:19.477Z,1628953279.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:19.477Z,1628953279.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:19.478Z,1628953279.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:19.881Z,1628953279.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00362,186,80,80,71,FF
2021-08-14T15:01:19.881Z,1628953279.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:19.881Z,1628953279.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:19.883Z,1628953279.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:20.293Z,1628953280.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:20.698Z,1628953280.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00390,186,80,80,4B,FF
2021-08-14T15:01:20.699Z,1628953280.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:20.773Z,1628953280.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:21.130Z,1628953281.130 [Micromodem](INFO): Nmea in: $SNTTA,0.028518,,,,150121.62*44

2021-08-14T15:01:21.195Z,1628953281.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 258.931297 deg, deltaT: 4.497330 s, approachRate: 0.613697 m/s, LOS rate: 0.028904 deg/s, posRepo size: 4
2021-08-14T15:01:23.546Z,1628953283.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:23.930Z,1628953283.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:23.930Z,1628953283.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:23.930Z,1628953283.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:23.931Z,1628953283.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:24.329Z,1628953284.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00390,186,80,80,4B,FF
2021-08-14T15:01:24.329Z,1628953284.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:24.329Z,1628953284.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:24.331Z,1628953284.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:24.755Z,1628953284.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:25.140Z,1628953285.140 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,003C6,187,80,80,61,FF
2021-08-14T15:01:25.141Z,1628953285.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:25.217Z,1628953285.217 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:25.635Z,1628953285.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150126.07*58

2021-08-14T15:01:25.673Z,1628953285.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 251.925435 deg, deltaT: 4.444078 s, approachRate: 0.729060 m/s, LOS rate: -1.576449 deg/s, posRepo size: 4
2021-08-14T15:01:28.009Z,1628953288.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:28.365Z,1628953288.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:28.365Z,1628953288.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:28.365Z,1628953288.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:28.366Z,1628953288.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:28.774Z,1628953288.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,003C6,187,80,80,61,FF
2021-08-14T15:01:28.774Z,1628953288.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:28.774Z,1628953288.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:28.776Z,1628953288.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:29.201Z,1628953289.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:29.581Z,1628953289.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,003EF,184,80,80,40,FF
2021-08-14T15:01:29.581Z,1628953289.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:29.601Z,1628953289.601 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:30.013Z,1628953290.013 [Micromodem](INFO): Nmea in: $SNTTA,0.054780,,,,150130.52*4F

2021-08-14T15:01:30.047Z,1628953290.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 246.784488 deg, deltaT: 4.384396 s, approachRate: 0.561081 m/s, LOS rate: -1.172555 deg/s, posRepo size: 4
2021-08-14T15:01:32.465Z,1628953292.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:32.809Z,1628953292.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:32.809Z,1628953292.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:32.809Z,1628953292.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:32.810Z,1628953292.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:33.237Z,1628953293.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,003EF,184,80,80,40,FF
2021-08-14T15:01:33.237Z,1628953293.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:33.238Z,1628953293.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:33.252Z,1628953293.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:33.621Z,1628953293.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:34.454Z,1628953294.454 [Micromodem](INFO): Nmea in: $SNTTA,0.039164,,,,150134.99*4B

2021-08-14T15:01:35.251Z,1628953295.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:36.869Z,1628953296.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,40,FF
2021-08-14T15:01:36.869Z,1628953296.869 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,40,FF
2021-08-14T15:01:36.869Z,1628953296.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:01:38.082Z,1628953298.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:38.470Z,1628953298.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:38.470Z,1628953298.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:38.470Z,1628953298.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:38.471Z,1628953298.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:38.937Z,1628953298.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,40,FF
2021-08-14T15:01:38.937Z,1628953298.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:38.937Z,1628953298.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:38.939Z,1628953298.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:39.300Z,1628953299.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:39.769Z,1628953299.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13A,000,00455,186,80,80,4F,FF
2021-08-14T15:01:39.769Z,1628953299.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:39.791Z,1628953299.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:40.127Z,1628953300.127 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150140.68*51

2021-08-14T15:01:40.189Z,1628953300.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 228.159232 deg, deltaT: 10.189666 s, approachRate: 0.600609 m/s, LOS rate: -1.827857 deg/s, posRepo size: 4
2021-08-14T15:01:42.598Z,1628953302.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:42.917Z,1628953302.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:42.917Z,1628953302.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:42.917Z,1628953302.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:42.918Z,1628953302.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:43.314Z,1628953303.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13A,000,00455,186,80,80,4F,FF
2021-08-14T15:01:43.314Z,1628953303.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:43.314Z,1628953303.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:43.316Z,1628953303.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:43.729Z,1628953303.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:44.125Z,1628953304.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,00484,189,80,80,5B,FF
2021-08-14T15:01:44.125Z,1628953304.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:44.196Z,1628953304.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:44.605Z,1628953304.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150145.06*5C

2021-08-14T15:01:44.666Z,1628953304.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 276.762489 deg, deltaT: 4.405061 s, approachRate: 0.640172 m/s, LOS rate: 11.033504 deg/s, posRepo size: 4
2021-08-14T15:01:46.991Z,1628953306.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:47.353Z,1628953307.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:47.354Z,1628953307.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:47.354Z,1628953307.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:47.355Z,1628953307.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:47.769Z,1628953307.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,00484,189,80,80,5B,FF
2021-08-14T15:01:47.769Z,1628953307.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:47.769Z,1628953307.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:47.771Z,1628953307.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:48.195Z,1628953308.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:48.621Z,1628953308.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,004B4,189,80,80,41,FF
2021-08-14T15:01:48.621Z,1628953308.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:48.712Z,1628953308.712 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:49.017Z,1628953309.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150149.51*52

2021-08-14T15:01:49.040Z,1628953309.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 272.635771 deg, deltaT: 4.516224 s, approachRate: 0.637702 m/s, LOS rate: -0.913754 deg/s, posRepo size: 4
2021-08-14T15:01:51.445Z,1628953311.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:51.845Z,1628953311.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:51.845Z,1628953311.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:51.845Z,1628953311.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:51.846Z,1628953311.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:52.233Z,1628953312.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,004B4,189,80,80,41,FF
2021-08-14T15:01:52.233Z,1628953312.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:52.234Z,1628953312.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:52.235Z,1628953312.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:52.707Z,1628953312.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:53.139Z,1628953313.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D68,000,004EB,18A,80,80,29,FF
2021-08-14T15:01:53.141Z,1628953313.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:53.206Z,1628953313.206 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:53.517Z,1628953313.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150153.98*5C

2021-08-14T15:01:53.584Z,1628953313.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 276.638699 deg, deltaT: 4.493758 s, approachRate: 0.734352 m/s, LOS rate: 0.890775 deg/s, posRepo size: 4
2021-08-14T15:01:55.911Z,1628953315.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:01:56.293Z,1628953316.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:01:56.293Z,1628953316.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:01:56.293Z,1628953316.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:01:56.294Z,1628953316.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:01:56.686Z,1628953316.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D68,000,004EB,18A,80,80,29,FF
2021-08-14T15:01:56.686Z,1628953316.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:01:56.686Z,1628953316.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:01:56.689Z,1628953316.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:01:57.084Z,1628953317.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:01:57.485Z,1628953317.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6D,000,00513,189,80,80,40,FF
2021-08-14T15:01:57.485Z,1628953317.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:01:57.505Z,1628953317.505 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:01:57.921Z,1628953317.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150158.43*51

2021-08-14T15:01:57.961Z,1628953317.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 276.318609 deg, deltaT: 4.299115 s, approachRate: 0.558254 m/s, LOS rate: -0.074455 deg/s, posRepo size: 4
2021-08-14T15:01:58.322Z,1628953318.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:01:58.322Z,1628953318.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:01:58.323Z,1628953318.323 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:01:58.323Z,1628953318.323 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:01:58.323Z,1628953318.323 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:01:58.324Z,1628953318.324 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:01:58.796Z,1628953318.796 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:01:58.796Z,1628953318.796 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:01:58.796Z,1628953318.796 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:01:58.796Z,1628953318.796 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:02:00.345Z,1628953320.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:00.721Z,1628953320.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:00.721Z,1628953320.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:00.721Z,1628953320.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:00.722Z,1628953320.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:01.118Z,1628953321.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6D,000,00513,189,80,80,40,FF
2021-08-14T15:02:01.119Z,1628953321.119 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:01.119Z,1628953321.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:01.124Z,1628953321.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:01.533Z,1628953321.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:02.350Z,1628953322.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150202.86*54

2021-08-14T15:02:03.211Z,1628953323.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:04.773Z,1628953324.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,40,FF
2021-08-14T15:02:04.773Z,1628953324.773 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,40,FF
2021-08-14T15:02:04.773Z,1628953324.773 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:02:05.987Z,1628953325.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:06.473Z,1628953326.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:06.473Z,1628953326.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:06.473Z,1628953326.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:06.474Z,1628953326.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:06.893Z,1628953326.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,40,FF
2021-08-14T15:02:06.893Z,1628953326.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:06.893Z,1628953326.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:06.895Z,1628953326.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:07.280Z,1628953327.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:07.687Z,1628953327.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00587,186,80,80,4E,FF
2021-08-14T15:02:07.687Z,1628953327.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:08.087Z,1628953328.087 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150208.63*55

2021-08-14T15:02:08.119Z,1628953328.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 264.631800 deg, deltaT: 10.221685 s, approachRate: 0.680905 m/s, LOS rate: -1.143335 deg/s, posRepo size: 4
2021-08-14T15:02:10.598Z,1628953330.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:10.885Z,1628953330.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:10.885Z,1628953330.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:10.885Z,1628953330.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:10.886Z,1628953330.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:11.297Z,1628953331.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00587,186,80,80,4E,FF
2021-08-14T15:02:11.297Z,1628953331.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:11.297Z,1628953331.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:11.299Z,1628953331.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:11.695Z,1628953331.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:12.097Z,1628953332.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,005B5,186,80,80,83,FF
2021-08-14T15:02:12.097Z,1628953332.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:12.564Z,1628953332.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150213.04*5E

2021-08-14T15:02:12.635Z,1628953332.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 261.495759 deg, deltaT: 4.397061 s, approachRate: 0.627693 m/s, LOS rate: -0.713213 deg/s, posRepo size: 4
2021-08-14T15:02:14.976Z,1628953334.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:15.337Z,1628953335.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:15.337Z,1628953335.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:15.337Z,1628953335.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:15.338Z,1628953335.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:15.741Z,1628953335.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,005B5,186,80,80,83,FF
2021-08-14T15:02:15.741Z,1628953335.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:15.741Z,1628953335.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:15.743Z,1628953335.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:16.141Z,1628953336.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:16.561Z,1628953336.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,005E3,185,80,80,7C,FF
2021-08-14T15:02:16.562Z,1628953336.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:16.985Z,1628953336.985 [Micromodem](INFO): Nmea in: $SNTTA,0.059178,,,,150217.48*4E

2021-08-14T15:02:17.015Z,1628953337.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 260.554805 deg, deltaT: 4.525576 s, approachRate: 0.609865 m/s, LOS rate: -0.207919 deg/s, posRepo size: 4
2021-08-14T15:02:19.457Z,1628953339.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:19.869Z,1628953339.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:19.869Z,1628953339.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:19.869Z,1628953339.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:19.870Z,1628953339.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:20.329Z,1628953340.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,005E3,185,80,80,7C,FF
2021-08-14T15:02:20.329Z,1628953340.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:20.329Z,1628953340.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:20.331Z,1628953340.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:20.765Z,1628953340.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:21.147Z,1628953341.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,00619,186,80,80,82,FF
2021-08-14T15:02:21.149Z,1628953341.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:21.553Z,1628953341.553 [Micromodem](INFO): Nmea in: $SNTTA,0.068372,,,,150222.07*49

2021-08-14T15:02:21.575Z,1628953341.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.160004 m, bearing: 258.727156 deg, deltaT: 4.584827 s, approachRate: 0.706681 m/s, LOS rate: -0.398630 deg/s, posRepo size: 4
2021-08-14T15:02:23.955Z,1628953343.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:24.350Z,1628953344.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:24.350Z,1628953344.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:24.350Z,1628953344.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:24.351Z,1628953344.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:24.760Z,1628953344.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,00619,186,80,80,82,FF
2021-08-14T15:02:24.761Z,1628953344.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:24.761Z,1628953344.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:24.763Z,1628953344.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:25.157Z,1628953345.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:25.553Z,1628953345.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00648,187,80,80,8B,FF
2021-08-14T15:02:25.554Z,1628953345.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:25.993Z,1628953345.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150226.50*59

2021-08-14T15:02:26.032Z,1628953346.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 258.799747 deg, deltaT: 4.349349 s, approachRate: 0.648372 m/s, LOS rate: 0.016690 deg/s, posRepo size: 4
2021-08-14T15:02:28.440Z,1628953348.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:28.781Z,1628953348.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:28.781Z,1628953348.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:28.781Z,1628953348.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:28.782Z,1628953348.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:29.221Z,1628953349.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00648,187,80,80,8B,FF
2021-08-14T15:02:29.221Z,1628953349.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:29.221Z,1628953349.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:29.223Z,1628953349.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:29.605Z,1628953349.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:30.009Z,1628953350.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00679,186,80,80,79,FF
2021-08-14T15:02:30.009Z,1628953350.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:30.437Z,1628953350.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150230.96*54

2021-08-14T15:02:30.463Z,1628953350.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.920002 m, bearing: 266.863742 deg, deltaT: 4.511807 s, approachRate: 0.651624 m/s, LOS rate: 1.787309 deg/s, posRepo size: 4
2021-08-14T15:02:32.881Z,1628953352.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:33.341Z,1628953353.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:33.341Z,1628953353.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:33.341Z,1628953353.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:33.342Z,1628953353.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:33.725Z,1628953353.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00679,186,80,80,79,FF
2021-08-14T15:02:33.725Z,1628953353.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:33.725Z,1628953353.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:33.730Z,1628953353.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:34.014Z,1628953354.014 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-08-14T15:02:34.064Z,1628953354.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:34.473Z,1628953354.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,006AE,187,80,80,4C,FF
2021-08-14T15:02:34.474Z,1628953354.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:34.968Z,1628953354.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 268.114759 deg, deltaT: 4.495042 s, approachRate: 0.707447 m/s, LOS rate: 0.278311 deg/s, posRepo size: 4
2021-08-14T15:02:35.261Z,1628953355.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150235.47*5D

2021-08-14T15:02:37.346Z,1628953357.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:37.679Z,1628953357.679 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:37.679Z,1628953357.679 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:37.680Z,1628953357.680 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:37.681Z,1628953357.681 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:38.081Z,1628953358.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,006AE,187,80,80,4C,FF
2021-08-14T15:02:38.082Z,1628953358.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:38.082Z,1628953358.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:38.083Z,1628953358.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:38.493Z,1628953358.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:38.901Z,1628953358.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E45,000,006D4,186,80,80,9B,FF
2021-08-14T15:02:38.902Z,1628953358.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:39.327Z,1628953359.327 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150239.83*59

2021-08-14T15:02:39.354Z,1628953359.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.380005 m, bearing: 265.482268 deg, deltaT: 4.386304 s, approachRate: 0.519800 m/s, LOS rate: -0.600162 deg/s, posRepo size: 4
2021-08-14T15:02:41.771Z,1628953361.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:42.129Z,1628953362.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:42.129Z,1628953362.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:42.129Z,1628953362.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:42.130Z,1628953362.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:42.545Z,1628953362.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E45,000,006D4,186,80,80,9B,FF
2021-08-14T15:02:42.546Z,1628953362.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:42.546Z,1628953362.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:42.570Z,1628953362.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:42.968Z,1628953362.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:43.358Z,1628953363.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,0070B,186,80,80,70,FF
2021-08-14T15:02:43.359Z,1628953363.359 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:43.801Z,1628953363.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150244.31*5A

2021-08-14T15:02:43.823Z,1628953363.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.680008 m, bearing: 265.835662 deg, deltaT: 4.465216 s, approachRate: 0.739047 m/s, LOS rate: 0.079144 deg/s, posRepo size: 4
2021-08-14T15:02:46.246Z,1628953366.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:46.669Z,1628953366.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:46.669Z,1628953366.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:46.670Z,1628953366.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:46.671Z,1628953366.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:47.037Z,1628953367.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,0070B,186,80,80,70,FF
2021-08-14T15:02:47.037Z,1628953367.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:47.037Z,1628953367.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:47.039Z,1628953367.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:47.510Z,1628953367.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:47.861Z,1628953367.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,0073C,186,80,80,88,FF
2021-08-14T15:02:47.862Z,1628953367.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:48.289Z,1628953368.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150248.78*5B

2021-08-14T15:02:48.316Z,1628953368.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 264.013504 deg, deltaT: 4.464941 s, approachRate: 0.658462 m/s, LOS rate: -0.408103 deg/s, posRepo size: 4
2021-08-14T15:02:50.722Z,1628953370.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:51.081Z,1628953371.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:51.081Z,1628953371.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:51.081Z,1628953371.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:51.082Z,1628953371.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:51.478Z,1628953371.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,0073C,186,80,80,88,FF
2021-08-14T15:02:51.478Z,1628953371.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:51.479Z,1628953371.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:51.481Z,1628953371.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:51.892Z,1628953371.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:52.273Z,1628953372.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,0076F,186,80,80,A6,FF
2021-08-14T15:02:52.274Z,1628953372.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:52.749Z,1628953372.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150253.22*5E
0*7C

2021-08-14T15:02:52.811Z,1628953372.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.680000 m, bearing: 259.819795 deg, deltaT: 4.397440 s, approachRate: 0.695859 m/s, LOS rate: -0.953670 deg/s, posRepo size: 4
2021-08-14T15:02:55.201Z,1628953375.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:02:55.509Z,1628953375.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:02:55.509Z,1628953375.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:02:55.509Z,1628953375.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:02:55.510Z,1628953375.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:02:55.929Z,1628953375.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,0076F,186,80,80,A6,FF
2021-08-14T15:02:55.929Z,1628953375.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:02:55.929Z,1628953375.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:02:55.931Z,1628953375.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:02:56.321Z,1628953376.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:02:56.743Z,1628953376.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,007A1,186,80,80,A2,FF
2021-08-14T15:02:56.743Z,1628953376.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:02:57.181Z,1628953377.181 [Micromodem](INFO): Nmea in: $SNTTA,,0.241355,,,150257.67*41

2021-08-14T15:02:57.216Z,1628953377.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 256.213756 deg, deltaT: 4.506984 s, approachRate: 0.665634 m/s, LOS rate: -0.800100 deg/s, posRepo size: 4
2021-08-14T15:02:59.578Z,1628953379.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:00.056Z,1628953380.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:00.056Z,1628953380.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:00.057Z,1628953380.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:00.057Z,1628953380.057 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:00.441Z,1628953380.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,007A1,186,80,80,A2,FF
2021-08-14T15:03:00.441Z,1628953380.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:00.441Z,1628953380.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:00.443Z,1628953380.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:00.904Z,1628953380.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:01.302Z,1628953381.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,007D5,186,80,80,9F,FF
2021-08-14T15:03:01.302Z,1628953381.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:01.728Z,1628953381.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150302.18*52

2021-08-14T15:03:01.804Z,1628953381.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 254.419274 deg, deltaT: 4.510661 s, approachRate: 0.691695 m/s, LOS rate: -0.397831 deg/s, posRepo size: 4
2021-08-14T15:03:04.131Z,1628953384.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:04.520Z,1628953384.520 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:04.521Z,1628953384.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:04.521Z,1628953384.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:04.523Z,1628953384.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:04.917Z,1628953384.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,007D5,186,80,80,9F,FF
2021-08-14T15:03:04.917Z,1628953384.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:04.918Z,1628953384.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:04.919Z,1628953384.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:05.317Z,1628953385.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:05.745Z,1628953385.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00806,186,80,80,9C,FF
2021-08-14T15:03:05.746Z,1628953385.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:06.173Z,1628953386.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150306.66*5F

2021-08-14T15:03:06.217Z,1628953386.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.740005 m, bearing: 256.016964 deg, deltaT: 4.466830 s, approachRate: 0.658185 m/s, LOS rate: 0.357679 deg/s, posRepo size: 4
2021-08-14T15:03:08.627Z,1628953388.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:08.960Z,1628953388.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:08.961Z,1628953388.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:08.961Z,1628953388.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:08.962Z,1628953388.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:09.354Z,1628953389.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00806,186,80,80,9C,FF
2021-08-14T15:03:09.354Z,1628953389.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:09.354Z,1628953389.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:09.356Z,1628953389.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:09.776Z,1628953389.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:10.173Z,1628953390.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,00839,186,80,80,94,FF
2021-08-14T15:03:10.174Z,1628953390.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:10.625Z,1628953390.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150311.10*58

2021-08-14T15:03:10.692Z,1628953390.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.800003 m, bearing: 258.082495 deg, deltaT: 4.443765 s, approachRate: 0.688605 m/s, LOS rate: 0.464816 deg/s, posRepo size: 4
2021-08-14T15:03:13.031Z,1628953393.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:13.397Z,1628953393.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:13.397Z,1628953393.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:13.397Z,1628953393.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:13.398Z,1628953393.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:13.946Z,1628953393.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC5,000,00839,186,80,80,94,FF
2021-08-14T15:03:13.946Z,1628953393.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:13.946Z,1628953393.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:13.948Z,1628953393.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:14.269Z,1628953394.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:14.673Z,1628953394.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4A,000,0086A,186,80,80,94,FF
2021-08-14T15:03:14.674Z,1628953394.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:15.096Z,1628953395.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 264.646334 deg, deltaT: 4.529881 s, approachRate: 0.649023 m/s, LOS rate: 1.449009 deg/s, posRepo size: 4
2021-08-14T15:03:15.461Z,1628953395.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150315.69*52

2021-08-14T15:03:17.493Z,1628953397.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:17.877Z,1628953397.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:17.877Z,1628953397.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:17.877Z,1628953397.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:17.878Z,1628953397.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:18.273Z,1628953398.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4A,000,0086A,186,80,80,94,FF
2021-08-14T15:03:18.273Z,1628953398.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:18.273Z,1628953398.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:18.275Z,1628953398.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:18.699Z,1628953398.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:19.089Z,1628953399.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,0089E,186,80,80,A6,FF
2021-08-14T15:03:19.090Z,1628953399.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:19.529Z,1628953399.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150320.02*59

2021-08-14T15:03:19.566Z,1628953399.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 261.840383 deg, deltaT: 4.375592 s, approachRate: 0.713047 m/s, LOS rate: -0.641273 deg/s, posRepo size: 4
2021-08-14T15:03:21.995Z,1628953401.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:22.306Z,1628953402.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:22.306Z,1628953402.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:22.307Z,1628953402.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:22.308Z,1628953402.308 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:22.725Z,1628953402.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,0089E,186,80,80,A6,FF
2021-08-14T15:03:22.725Z,1628953402.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:22.725Z,1628953402.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:22.727Z,1628953402.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:23.125Z,1628953403.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:23.537Z,1628953403.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,008CD,186,80,80,A5,FF
2021-08-14T15:03:23.538Z,1628953403.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:23.977Z,1628953403.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150324.47*5C

2021-08-14T15:03:23.992Z,1628953403.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.680008 m, bearing: 258.452418 deg, deltaT: 4.506282 s, approachRate: 0.625795 m/s, LOS rate: -0.751832 deg/s, posRepo size: 4
2021-08-14T15:03:26.396Z,1628953406.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:26.770Z,1628953406.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:26.770Z,1628953406.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:26.770Z,1628953406.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:26.771Z,1628953406.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:27.325Z,1628953407.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,008CD,186,80,80,A5,FF
2021-08-14T15:03:27.325Z,1628953407.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:27.325Z,1628953407.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:27.327Z,1628953407.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:27.699Z,1628953407.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:28.091Z,1628953408.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00900,186,80,80,97,FF
2021-08-14T15:03:28.091Z,1628953408.091 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:28.533Z,1628953408.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150329.07*55

2021-08-14T15:03:28.603Z,1628953408.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.740005 m, bearing: 256.421831 deg, deltaT: 4.470326 s, approachRate: 0.684513 m/s, LOS rate: -0.454237 deg/s, posRepo size: 4
2021-08-14T15:03:30.958Z,1628953410.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:03:31.301Z,1628953411.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:03:31.301Z,1628953411.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:03:31.301Z,1628953411.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:03:31.302Z,1628953411.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:03:31.710Z,1628953411.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00900,186,80,80,97,FF
2021-08-14T15:03:31.710Z,1628953411.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:03:31.710Z,1628953411.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:03:31.713Z,1628953411.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:03:32.109Z,1628953412.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:03:32.512Z,1628953412.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,0092F,186,80,80,A5,FF
2021-08-14T15:03:32.513Z,1628953412.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:03:32.949Z,1628953412.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150333.46*5B

2021-08-14T15:03:33.003Z,1628953413.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 254.938587 deg, deltaT: 4.505796 s, approachRate: 0.625859 m/s, LOS rate: -0.329186 deg/s, posRepo size: 4
2021-08-14T15:03:35.376Z,1628953415.376 [lineCaptureDepth](INFO): Timed out from 2021-08-14T13:03:35.2Z
2021-08-14T15:03:35.376Z,1628953415.376 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-14T15:03:35.377Z,1628953415.377 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth] Stopped
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science] Stopped
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science:B] Stopped
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science:C] Stopped
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T15:03:35.377Z,1628953415.377 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:TrackAC.] Stopped
2021-08-14T15:03:35.378Z,1628953415.378 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T15:03:35.379Z,1628953415.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T15:03:35.384Z,1628953415.384 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T15:03:35.385Z,1628953415.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:Lap] Stopped
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T15:03:35.386Z,1628953415.386 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T15:03:35.387Z,1628953415.387 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T15:03:35.609Z,1628953415.609 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T15:03:35.744Z,1628953415.744 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-14T15:03:35.745Z,1628953415.745 [DefaultWithUndock] Running Loop=1
2021-08-14T15:03:35.745Z,1628953415.745 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-14T15:03:35.745Z,1628953415.745 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-14T15:03:35.745Z,1628953415.745 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-14T15:03:36.013Z,1628953416.013 [WetLabsSeaOWL_UV_A](FAULT): LCB fault:  Software Overcurrent.
2021-08-14T15:03:36.013Z,1628953416.013 [WetLabsSeaOWL_UV_A] Hardware Fault, FailCount= 1
2021-08-14T15:03:36.013Z,1628953416.013 [WetLabsSeaOWL_UV_A](ERROR): Hardware Fault
2021-08-14T15:03:36.268Z,1628953416.268 [CBIT](ERROR): Hardware Fault in component: WetLabsSeaOWL_UV_A
2021-08-14T15:03:36.720Z,1628953416.720 [CBIT](INFO): Clearing failed state for component WetLabsSeaOWL_UV_A
2021-08-14T15:03:36.720Z,1628953416.720 [WetLabsSeaOWL_UV_A] No Fault, FailCount= 1
2021-08-14T15:03:36.821Z,1628953416.821 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T15:03:38.716Z,1628953418.716 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T15:04:06.036Z,1628953446.036 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-14T15:04:06.036Z,1628953446.036 [DefaultWithUndock:A.Wait] Stopped
2021-08-14T15:04:06.036Z,1628953446.036 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T15:04:06.037Z,1628953446.037 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-14T15:04:06.037Z,1628953446.037 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-14T15:04:06.037Z,1628953446.037 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T15:04:06.037Z,1628953446.037 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-14T15:04:06.037Z,1628953446.037 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-14T15:04:06.037Z,1628953446.037 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-14T15:04:06.038Z,1628953446.038 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T15:04:06.882Z,1628953446.882 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:04:08.571Z,1628953448.571 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T15:04:08.873Z,1628953448.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:04:08.873Z,1628953448.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:04:08.873Z,1628953448.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:04:08.874Z,1628953448.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:04:09.293Z,1628953449.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,0092F,186,80,80,A5,FF
2021-08-14T15:04:09.293Z,1628953449.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:04:09.293Z,1628953449.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:04:09.295Z,1628953449.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:04:09.402Z,1628953449.402 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-14T15:04:09.676Z,1628953449.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:04:09.712Z,1628953449.712 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T15:04:10.085Z,1628953450.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,009EE,184,80,80,85,FF
2021-08-14T15:04:10.085Z,1628953450.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:04:10.099Z,1628953450.099 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-14T15:04:10.518Z,1628953450.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150411.04*5A

2021-08-14T15:04:10.589Z,1628953450.589 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T15:04:12.942Z,1628953452.942 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T15:04:13.328Z,1628953453.328 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:04:13.328Z,1628953453.328 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:04:13.329Z,1628953453.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:04:13.330Z,1628953453.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:04:13.729Z,1628953453.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,009EE,184,80,80,85,FF
2021-08-14T15:04:13.729Z,1628953453.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:04:13.729Z,1628953453.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:04:13.731Z,1628953453.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:04:14.133Z,1628953454.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:04:14.565Z,1628953454.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,009F7,183,80,80,8A,FF
2021-08-14T15:04:14.566Z,1628953454.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:04:14.956Z,1628953454.956 [Micromodem](INFO): Nmea in: $SNTTA,0.082991,,,,150415.47*4C

2021-08-14T15:04:17.382Z,1628953457.382 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T15:04:17.753Z,1628953457.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:04:17.753Z,1628953457.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:04:17.753Z,1628953457.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:04:17.754Z,1628953457.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:04:18.169Z,1628953458.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,009F7,183,80,80,8A,FF
2021-08-14T15:04:18.170Z,1628953458.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:04:18.171Z,1628953458.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:04:18.176Z,1628953458.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:04:18.614Z,1628953458.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:04:18.969Z,1628953458.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,009FA,186,80,80,8F,FF
2021-08-14T15:04:18.970Z,1628953458.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:04:19.397Z,1628953459.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150419.92*5D

2021-08-14T15:04:20.578Z,1628953460.578 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T15:04:20.581Z,1628953460.581 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T15:04:21.816Z,1628953461.816 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T15:04:22.228Z,1628953462.228 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:04:22.228Z,1628953462.228 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:04:22.229Z,1628953462.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:04:22.230Z,1628953462.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:04:22.613Z,1628953462.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,009FA,186,80,80,8F,FF
2021-08-14T15:04:22.613Z,1628953462.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:04:22.613Z,1628953462.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:04:22.615Z,1628953462.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:04:23.019Z,1628953463.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:04:23.413Z,1628953463.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8E,000,00A04,189,80,80,39,FF
2021-08-14T15:04:23.414Z,1628953463.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:04:23.833Z,1628953463.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150424.36*5D

2021-08-14T15:04:26.265Z,1628953466.265 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T15:04:26.641Z,1628953466.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:04:26.641Z,1628953466.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:04:26.641Z,1628953466.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:04:26.642Z,1628953466.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:04:27.045Z,1628953467.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8E,000,00A04,189,80,80,39,FF
2021-08-14T15:04:27.045Z,1628953467.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:04:27.045Z,1628953467.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:04:27.047Z,1628953467.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:04:27.461Z,1628953467.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:04:27.857Z,1628953467.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,00A06,189,80,80,5C,FF
2021-08-14T15:04:27.857Z,1628953467.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:04:28.290Z,1628953468.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150428.79*5A

2021-08-14T15:04:30.720Z,1628953470.720 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 116.46 m. Transitioning DDM to standby.
2021-08-14T15:04:30.721Z,1628953470.721 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T15:04:31.085Z,1628953471.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:04:31.085Z,1628953471.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:04:31.086Z,1628953471.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:04:31.087Z,1628953471.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:04:31.493Z,1628953471.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00A06,189,80,80,5C,FF
2021-08-14T15:04:31.494Z,1628953471.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:04:31.494Z,1628953471.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:04:31.496Z,1628953471.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:04:31.905Z,1628953471.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:04:32.719Z,1628953472.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150433.24*58

2021-08-14T15:04:33.171Z,1628953473.171 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-14T15:04:33.542Z,1628953473.542 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T15:04:33.543Z,1628953473.543 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-14T15:04:33.543Z,1628953473.543 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T15:04:33.543Z,1628953473.543 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-14T15:04:33.544Z,1628953473.544 [DefaultWithUndock:LeaveDock] Stopped
2021-08-14T15:04:33.544Z,1628953473.544 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-14T15:04:33.544Z,1628953473.544 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-14T15:04:33.544Z,1628953473.544 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-14T15:04:33.544Z,1628953473.544 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-14T15:04:33.544Z,1628953473.544 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T15:04:33.545Z,1628953473.545 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T15:04:33.545Z,1628953473.545 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T15:04:33.545Z,1628953473.545 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T15:04:33.545Z,1628953473.545 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-14T15:04:33.545Z,1628953473.545 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T15:04:33.545Z,1628953473.545 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T15:04:33.545Z,1628953473.545 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T15:04:33.546Z,1628953473.546 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T15:04:33.546Z,1628953473.546 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T15:04:33.546Z,1628953473.546 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T15:04:34.392Z,1628953474.392 [Radio_Surface](INFO): Powering up
2021-08-14T15:04:39.720Z,1628953479.720 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-14T15:05:02.677Z,1628953502.677 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-14T15:05:02.678Z,1628953502.678 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T15:05:02.678Z,1628953502.678 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T15:05:02.678Z,1628953502.678 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-14T15:05:02.679Z,1628953502.679 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T15:05:02.679Z,1628953502.679 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-14T15:05:02.679Z,1628953502.679 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-14T15:05:09.852Z,1628953509.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T15:05:14.720Z,1628953514.720 [NAL9602](INFO): SBD MO Status=0, MOMSN=23892, MT Status=0, MTMSN=0
2021-08-14T15:05:14.720Z,1628953514.720 [NAL9602](INFO): No messages in MT queue
2021-08-14T15:05:21.563Z,1628953521.563 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150522.00,A,4133.14665,N,07042.51761,W,1.458,28.66,140821,,,A*41
2021-08-14T15:05:21.566Z,1628953521.566 [NAL9602](INFO): GPS fix at 20210814T150522: (41.552444, -70.708627)
2021-08-14T15:05:21.577Z,1628953521.577 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T15:05:21.577Z,1628953521.577 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T15:05:38.489Z,1628953538.489 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:05:44.151Z,1628953544.151 [NAL9602](INFO): SBD MO Status=2, MOMSN=23893, MT Status=2, MTMSN=0
2021-08-14T15:05:44.151Z,1628953544.151 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T15:05:44.993Z,1628953544.993 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T15:06:10.292Z,1628953570.292 [NAL9602](INFO): SBD MO Status=2, MOMSN=23893, MT Status=2, MTMSN=0
2021-08-14T15:06:10.292Z,1628953570.292 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T15:06:20.136Z,1628953580.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T15:06:36.039Z,1628953596.039 [NAL9602](INFO): SBD MO Status=2, MOMSN=23893, MT Status=2, MTMSN=0
2021-08-14T15:06:36.040Z,1628953596.040 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T15:06:55.280Z,1628953615.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T15:06:56.068Z,1628953616.068 [NAL9602](INFO): SBD MO Status=1, MOMSN=23893, MT Status=0, MTMSN=0
2021-08-14T15:06:56.116Z,1628953616.116 [NAL9602](INFO): Sent 89 bytes from file Logs/20210814T125729/Courier0027.lzma
2021-08-14T15:06:56.116Z,1628953616.116 [NAL9602](INFO): Packets left to send: 0
2021-08-14T15:07:05.007Z,1628953625.007 [NAL9602](INFO): SBD MO Status=1, MOMSN=23894, MT Status=0, MTMSN=0
2021-08-14T15:07:05.064Z,1628953625.064 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0013.lzma
2021-08-14T15:07:05.064Z,1628953625.064 [NAL9602](INFO): Packets left to send: 4
2021-08-14T15:07:19.084Z,1628953639.084 [NAL9602](INFO): SBD MO Status=1, MOMSN=23895, MT Status=0, MTMSN=0
2021-08-14T15:07:19.144Z,1628953639.144 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0013.lzma
2021-08-14T15:07:19.144Z,1628953639.144 [NAL9602](INFO): Packets left to send: 3
2021-08-14T15:07:30.420Z,1628953650.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T15:07:32.757Z,1628953652.757 [NAL9602](INFO): SBD MO Status=1, MOMSN=23896, MT Status=0, MTMSN=0
2021-08-14T15:07:32.804Z,1628953652.804 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0013.lzma
2021-08-14T15:07:32.804Z,1628953652.804 [NAL9602](INFO): Packets left to send: 2
2021-08-14T15:07:49.736Z,1628953669.736 [NAL9602](INFO): SBD MO Status=1, MOMSN=23897, MT Status=0, MTMSN=0
2021-08-14T15:07:49.792Z,1628953669.792 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0013.lzma
2021-08-14T15:07:49.792Z,1628953669.792 [NAL9602](INFO): Packets left to send: 1
2021-08-14T15:08:01.548Z,1628953681.548 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003117
2021-08-14T15:08:01.810Z,1628953681.810 [NAL9602](INFO): SBD MO Status=1, MOMSN=23898, MT Status=0, MTMSN=0
2021-08-14T15:08:01.860Z,1628953681.860 [NAL9602](INFO): Sent 103 bytes from file Logs/20210814T125729/Express0013.lzma
2021-08-14T15:08:01.860Z,1628953681.860 [NAL9602](INFO): Packets left to send: 0
2021-08-14T15:08:07.571Z,1628953687.571 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T125729/Courier0030.lzma
2021-08-14T15:08:09.578Z,1628953689.578 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Courier0030.lzma.bak
2021-08-14T15:08:09.578Z,1628953689.578 [DataOverHttps](INFO): SBD MOMSN=437592
2021-08-14T15:08:19.621Z,1628953699.621 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20210814T125729/Express0016.lzma
2021-08-14T15:08:20.623Z,1628953700.623 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0016.lzma.bak
2021-08-14T15:08:20.623Z,1628953700.623 [DataOverHttps](INFO): SBD MOMSN=437594
2021-08-14T15:08:30.915Z,1628953710.915 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:08:31.668Z,1628953711.668 [DataOverHttps](INFO): Sending 287 bytes from file Logs/20210814T125729/Express0019.lzma
2021-08-14T15:08:32.541Z,1628953712.541 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T15:08:32.670Z,1628953712.670 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0019.lzma.bak
2021-08-14T15:08:32.670Z,1628953712.670 [DataOverHttps](INFO): SBD MOMSN=437619
2021-08-14T15:08:46.728Z,1628953726.728 [DataOverHttps](INFO): Sending 289 bytes from file Logs/20210814T125729/Express0022.lzma
2021-08-14T15:08:47.465Z,1628953727.465 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:08:47.730Z,1628953727.730 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0022.lzma.bak
2021-08-14T15:08:47.730Z,1628953727.730 [DataOverHttps](INFO): SBD MOMSN=437621
2021-08-14T15:08:49.484Z,1628953729.484 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T15:08:49.484Z,1628953729.484 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T15:08:49.883Z,1628953729.883 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T15:08:50.286Z,1628953730.286 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814150850.171498,06,1989,26,0137,0150,156,01,01,01,01,-1,-01,-01,1,3,1,0,150,-100.0,0.36,-100,2.64,-01,-0.34,-2147483648,14500,4000*64

2021-08-14T15:09:06.817Z,1628953746.817 [DataOverHttps](INFO): Sending 502 bytes from file Logs/20210814T125729/Express0025.lzma
2021-08-14T15:09:07.268Z,1628953747.268 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T15:09:07.672Z,1628953747.672 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814150908.171830,06,1537,25,0137,0150,141,00,00,01,02,-1,-01,-01,1,3,6,0,150,20.8,-0.41,-100,3.41,-01,-1.60,54,14500,4000*7A

2021-08-14T15:09:07.818Z,1628953747.818 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0025.lzma.bak
2021-08-14T15:09:07.818Z,1628953747.818 [DataOverHttps](INFO): SBD MOMSN=437623
2021-08-14T15:09:18.866Z,1628953758.866 [DataOverHttps](INFO): Sending 530 bytes from file Logs/20210814T125729/Express0028.lzma
2021-08-14T15:09:19.866Z,1628953759.866 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0028.lzma.bak
2021-08-14T15:09:19.866Z,1628953759.866 [DataOverHttps](INFO): SBD MOMSN=437628
2021-08-14T15:09:32.924Z,1628953772.924 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210814T125729/Express0031.lzma
2021-08-14T15:09:34.930Z,1628953774.930 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0031.lzma.bak
2021-08-14T15:09:34.930Z,1628953774.930 [DataOverHttps](INFO): SBD MOMSN=437641
2021-08-14T15:09:36.791Z,1628953776.791 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T15:09:36.792Z,1628953776.792 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T15:09:36.792Z,1628953776.792 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T15:10:52.258Z,1628953852.258 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T151052
2021-08-14T15:10:58.284Z,1628953858.284 [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" 2rbhl 1 2
2021-08-14T15:10:58.353Z,1628953858.353 [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" 2rbhl 1 2.000000
2021-08-14T15:10:58.354Z,1628953858.354 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2rbhl
2021-08-14T15:10:58.355Z,1628953858.355 [CommandLine](IMPORTANT): Scheduled #8 (#1 of 2 with id='2rbhl'): "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
2021-08-14T15:10:59.286Z,1628953859.286 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T151059
2021-08-14T15:11:03.304Z,1628953863.304 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rbhl 2 2
2021-08-14T15:11:03.377Z,1628953863.377 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rbhl 2 2.000000
2021-08-14T15:11:03.378Z,1628953863.378 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2rbhl
2021-08-14T15:11:03.378Z,1628953863.378 [CommandLine](IMPORTANT): Scheduled #9 (#2 of 2 with id='2rbhl'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-14T15:11:03.587Z,1628953863.587 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T15:11:03.588Z,1628953863.588 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T15:11:03.769Z,1628953863.769 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-14T15:11:03.771Z,1628953863.771 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-14T15:11:03.773Z,1628953863.773 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-14T15:11:03.793Z,1628953863.793 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-14T15:11:03.796Z,1628953863.796 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-14T15:11:03.799Z,1628953863.799 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-14T15:11:03.801Z,1628953863.801 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-14T15:11:03.804Z,1628953863.804 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-14T15:11:03.806Z,1628953863.806 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-14T15:11:03.809Z,1628953863.809 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-14T15:11:03.811Z,1628953863.811 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-14T15:11:03.814Z,1628953863.814 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-14T15:11:03.817Z,1628953863.817 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-14T15:11:03.819Z,1628953863.819 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-14T15:11:03.822Z,1628953863.822 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-14T15:11:03.823Z,1628953863.823 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-14T15:11:04.156Z,1628953864.156 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-14T15:11:04.158Z,1628953864.158 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-14T15:11:04.161Z,1628953864.161 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-14T15:11:04.163Z,1628953864.163 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-14T15:11:04.165Z,1628953864.165 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-14T15:11:04.167Z,1628953864.167 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-14T15:11:04.169Z,1628953864.169 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-14T15:11:04.172Z,1628953864.172 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-14T15:11:04.174Z,1628953864.174 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-14T15:11:04.176Z,1628953864.176 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-14T15:11:04.178Z,1628953864.178 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-14T15:11:04.181Z,1628953864.181 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-14T15:11:04.183Z,1628953864.183 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-14T15:11:04.185Z,1628953864.185 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-14T15:11:04.187Z,1628953864.187 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-14T15:11:04.190Z,1628953864.190 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-14T15:11:04.209Z,1628953864.209 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-14T15:11:04.220Z,1628953864.220 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-14T15:11:04.223Z,1628953864.223 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-14T15:11:04.240Z,1628953864.240 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-14T15:11:04.242Z,1628953864.242 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-14T15:11:04.249Z,1628953864.249 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-14T15:11:04.260Z,1628953864.260 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-14T15:11:04.262Z,1628953864.262 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-14T15:11:04.269Z,1628953864.269 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-14T15:11:04.271Z,1628953864.271 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-14T15:11:04.285Z,1628953864.285 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-14T15:11:04.300Z,1628953864.300 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-14T15:11:04.303Z,1628953864.303 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-14T15:11:04.332Z,1628953864.332 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-14T15:11:04.335Z,1628953864.335 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-14T15:11:04.342Z,1628953864.342 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-14T15:11:04.350Z,1628953864.350 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-14T15:11:04.360Z,1628953864.360 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-14T15:11:04.363Z,1628953864.363 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-14T15:11:04.370Z,1628953864.370 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-14T15:11:04.376Z,1628953864.376 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-14T15:11:04.379Z,1628953864.379 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-14T15:11:04.386Z,1628953864.386 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-14T15:11:04.393Z,1628953864.393 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-14T15:11:04.395Z,1628953864.395 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-14T15:11:04.442Z,1628953864.442 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-14T15:11:04.453Z,1628953864.453 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-14T15:11:04.457Z,1628953864.457 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-14T15:11:04.464Z,1628953864.464 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-14T15:11:04.466Z,1628953864.466 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-14T15:11:04.481Z,1628953864.481 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-14T15:11:04.483Z,1628953864.483 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-14T15:11:04.490Z,1628953864.490 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-14T15:11:04.509Z,1628953864.509 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-14T15:11:04.521Z,1628953864.521 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-14T15:11:04.541Z,1628953864.541 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-14T15:11:04.563Z,1628953864.563 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-14T15:11:04.585Z,1628953864.585 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-14T15:11:04.612Z,1628953864.612 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-14T15:11:04.614Z,1628953864.614 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-14T15:11:04.617Z,1628953864.617 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-14T15:11:04.619Z,1628953864.619 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-14T15:11:04.632Z,1628953864.632 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-14T15:11:04.634Z,1628953864.634 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-14T15:11:04.637Z,1628953864.637 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-14T15:11:04.639Z,1628953864.639 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-14T15:11:04.664Z,1628953864.664 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-14T15:11:04.667Z,1628953864.667 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-14T15:11:04.716Z,1628953864.716 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T15:11:04.738Z,1628953864.738 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T15:11:04.765Z,1628953864.765 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T15:11:04.795Z,1628953864.795 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T15:11:04.860Z,1628953864.860 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T15:11:04.897Z,1628953864.897 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T15:11:04.932Z,1628953864.932 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T15:11:04.989Z,1628953864.989 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T15:11:05.038Z,1628953865.038 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T15:11:05.075Z,1628953865.075 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T15:11:05.078Z,1628953865.078 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T15:11:05.090Z,1628953865.090 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T15:11:05.091Z,1628953865.091 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T15:11:05.106Z,1628953865.106 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T15:11:05.128Z,1628953865.128 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T15:11:05.145Z,1628953865.145 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-14T15:11:05.257Z,1628953865.257 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-14T15:11:05.268Z,1628953865.268 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-14T15:11:05.270Z,1628953865.270 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-14T15:11:05.277Z,1628953865.277 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-14T15:11:05.279Z,1628953865.279 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-14T15:11:05.298Z,1628953865.298 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-14T15:11:05.305Z,1628953865.305 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-14T15:11:05.324Z,1628953865.324 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T15:11:05.353Z,1628953865.353 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-14T15:11:05.378Z,1628953865.378 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-14T15:11:05.385Z,1628953865.385 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-14T15:11:05.394Z,1628953865.394 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-14T15:11:05.427Z,1628953865.427 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-14T15:11:05.586Z,1628953865.586 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-14T15:11:05.589Z,1628953865.589 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-14T15:11:05.592Z,1628953865.592 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-14T15:11:05.594Z,1628953865.594 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-14T15:11:05.597Z,1628953865.597 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-14T15:11:05.600Z,1628953865.600 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-14T15:11:05.603Z,1628953865.603 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-14T15:11:05.606Z,1628953865.606 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-14T15:11:05.608Z,1628953865.608 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-14T15:11:05.611Z,1628953865.611 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-14T15:11:05.613Z,1628953865.613 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-14T15:11:05.615Z,1628953865.615 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-14T15:11:05.674Z,1628953865.674 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-14T15:11:05.686Z,1628953865.686 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-14T15:11:05.702Z,1628953865.702 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-14T15:11:05.713Z,1628953865.713 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-14T15:11:05.715Z,1628953865.715 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-14T15:11:05.726Z,1628953865.726 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-14T15:11:05.733Z,1628953865.733 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-14T15:11:05.741Z,1628953865.741 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-14T15:11:05.756Z,1628953865.756 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-14T15:11:05.759Z,1628953865.759 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-14T15:11:05.765Z,1628953865.765 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-14T15:11:05.772Z,1628953865.772 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-14T15:11:05.774Z,1628953865.774 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-14T15:11:05.781Z,1628953865.781 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-14T15:11:05.786Z,1628953865.786 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T15:11:05.829Z,1628953865.829 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T15:11:05.836Z,1628953865.836 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T15:11:05.838Z,1628953865.838 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T15:11:05.839Z,1628953865.839 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T15:11:05.854Z,1628953865.854 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T15:11:05.861Z,1628953865.861 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T15:11:05.905Z,1628953865.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-14T15:11:05.908Z,1628953865.908 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-14T15:11:05.934Z,1628953865.934 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-14T15:11:05.935Z,1628953865.935 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T15:11:06.003Z,1628953866.003 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-14T15:11:06.018Z,1628953866.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-14T15:11:06.063Z,1628953866.063 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-14T15:11:06.103Z,1628953866.103 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-14T15:11:06.117Z,1628953866.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-14T15:11:06.139Z,1628953866.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-14T15:11:06.158Z,1628953866.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-14T15:11:06.171Z,1628953866.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T15:11:06.171Z,1628953866.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T15:11:06.183Z,1628953866.183 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-14T15:11:06.198Z,1628953866.198 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-14T15:11:06.227Z,1628953866.227 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-14T15:11:06.236Z,1628953866.236 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-14T15:11:06.239Z,1628953866.239 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-14T15:11:06.241Z,1628953866.241 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-14T15:11:06.247Z,1628953866.247 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-14T15:11:06.276Z,1628953866.276 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-14T15:11:06.277Z,1628953866.277 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T15:11:06.314Z,1628953866.314 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-14T15:11:06.314Z,1628953866.314 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T15:11:06.367Z,1628953866.367 [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>


2021-08-14T15:11:06.367Z,1628953866.367 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T15:11:20.273Z,1628953880.273 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-14T15:11:20.274Z,1628953880.274 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-14T15:11:20.275Z,1628953880.275 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-14T15:11:20.284Z,1628953880.284 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-14T15:11:31.811Z,1628953891.811 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-14T15:11:31.812Z,1628953891.812 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-14T15:11:31.813Z,1628953891.813 [CommandLine](IMPORTANT): got command run
2021-08-14T15:11:31.814Z,1628953891.814 [CommandLine](IMPORTANT): Running 
2021-08-14T15:11:32.081Z,1628953892.081 [DefaultWithUndock] Stopped
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T15:11:32.082Z,1628953892.082 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T15:11:32.083Z,1628953892.083 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-14T15:11:32.083Z,1628953892.083 [lineCaptureDepth] Running Loop=1
2021-08-14T15:11:32.083Z,1628953892.083 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-14T15:11:32.083Z,1628953892.083 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T15:11:32.083Z,1628953892.083 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-14T15:11:32.083Z,1628953892.083 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-14T15:11:32.083Z,1628953892.083 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T15:11:32.092Z,1628953892.092 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T15:11:32.092Z,1628953892.092 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-14T15:11:32.092Z,1628953892.092 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-14T15:11:32.092Z,1628953892.092 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-14T15:11:32.092Z,1628953892.092 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T15:11:32.092Z,1628953892.092 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-14T15:11:32.092Z,1628953892.092 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T15:11:32.093Z,1628953892.093 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T15:11:32.093Z,1628953892.093 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T15:11:32.094Z,1628953892.094 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-14T15:11:32.094Z,1628953892.094 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T15:11:32.094Z,1628953892.094 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T15:11:32.094Z,1628953892.094 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T15:11:32.095Z,1628953892.095 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-14T15:11:32.095Z,1628953892.095 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T15:11:32.095Z,1628953892.095 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T15:11:32.095Z,1628953892.095 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T15:11:32.097Z,1628953892.097 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-14T15:11:32.097Z,1628953892.097 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T15:11:32.097Z,1628953892.097 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T15:11:32.097Z,1628953892.097 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T15:11:32.098Z,1628953892.098 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-14T15:11:32.098Z,1628953892.098 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T15:11:32.098Z,1628953892.098 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T15:11:32.099Z,1628953892.099 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T15:11:32.099Z,1628953892.099 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-14T15:11:32.099Z,1628953892.099 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T15:11:32.099Z,1628953892.099 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T15:11:32.099Z,1628953892.099 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T15:11:32.101Z,1628953892.101 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-14T15:11:32.101Z,1628953892.101 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T15:11:32.102Z,1628953892.102 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T15:11:32.102Z,1628953892.102 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T15:11:32.103Z,1628953892.103 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-14T15:11:32.103Z,1628953892.103 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T15:11:32.103Z,1628953892.103 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T15:11:32.124Z,1628953892.124 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T15:11:32.124Z,1628953892.124 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T15:11:32.125Z,1628953892.125 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T15:11:32.126Z,1628953892.126 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T15:11:32.126Z,1628953892.126 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T15:11:32.126Z,1628953892.126 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T15:11:32.126Z,1628953892.126 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T15:11:32.126Z,1628953892.126 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T15:11:32.126Z,1628953892.126 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:11:32.126Z,1628953892.126 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T15:11:32.127Z,1628953892.127 [lineCaptureDepth:C] Running Loop=1
2021-08-14T15:11:32.141Z,1628953892.141 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T15:11:32.141Z,1628953892.141 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T15:11:32.141Z,1628953892.141 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T15:11:32.142Z,1628953892.142 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T15:11:32.142Z,1628953892.142 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T15:11:32.142Z,1628953892.142 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T15:11:32.142Z,1628953892.142 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T15:11:32.142Z,1628953892.142 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T15:11:32.142Z,1628953892.142 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T15:11:32.142Z,1628953892.142 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:11:32.143Z,1628953892.143 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T15:11:32.143Z,1628953892.143 [lineCaptureDepth:C] Stopped
2021-08-14T15:11:32.143Z,1628953892.143 [lineCaptureDepth:D] Running Loop=1
2021-08-14T15:11:32.143Z,1628953892.143 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T15:11:32.143Z,1628953892.143 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T15:11:32.143Z,1628953892.143 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T15:11:32.148Z,1628953892.148 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T15:11:32.148Z,1628953892.148 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T15:11:32.150Z,1628953892.150 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-14T15:11:32.151Z,1628953892.151 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T15:11:32.168Z,1628953892.168 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-14T15:11:32.168Z,1628953892.168 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T15:11:32.168Z,1628953892.168 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-14T15:11:32.168Z,1628953892.168 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T15:11:32.168Z,1628953892.168 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-14T15:11:32.168Z,1628953892.168 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T15:11:32.168Z,1628953892.168 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T15:11:32.169Z,1628953892.169 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T15:11:32.169Z,1628953892.169 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-14T15:11:32.169Z,1628953892.169 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T15:11:32.169Z,1628953892.169 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-14T15:11:32.169Z,1628953892.169 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T15:11:32.169Z,1628953892.169 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T15:11:32.170Z,1628953892.170 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T15:11:32.171Z,1628953892.171 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-14T15:11:32.171Z,1628953892.171 [lineCaptureDepth:Science:F] Stopped
2021-08-14T15:11:32.171Z,1628953892.171 [lineCaptureDepth:Science:E] Stopped
2021-08-14T15:11:32.171Z,1628953892.171 [lineCaptureDepth:Science:D] Stopped
2021-08-14T15:11:32.171Z,1628953892.171 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T15:11:32.176Z,1628953892.176 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-14T15:11:32.189Z,1628953892.189 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-14T15:11:32.190Z,1628953892.190 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T15:11:32.190Z,1628953892.190 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-14T15:11:32.191Z,1628953892.191 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-14T15:11:32.191Z,1628953892.191 [lineCaptureDepth:Science:A] Stopped
2021-08-14T15:11:32.466Z,1628953892.466 [lineCaptureDepth:D] Stopped
2021-08-14T15:11:32.466Z,1628953892.466 [lineCaptureDepth:E] Running Loop=1
2021-08-14T15:11:32.479Z,1628953892.479 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T15:11:32.911Z,1628953892.911 [lineCaptureDepth:E] Stopped
2021-08-14T15:11:32.911Z,1628953892.911 [lineCaptureDepth:G] Running Loop=1
2021-08-14T15:11:33.264Z,1628953893.264 [lineCaptureDepth:G] Stopped
2021-08-14T15:11:33.264Z,1628953893.264 [lineCaptureDepth:H] Running Loop=1
2021-08-14T15:11:33.639Z,1628953893.639 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:422.553009
2021-08-14T15:11:33.662Z,1628953893.662 [lineCaptureDepth:H] Stopped
2021-08-14T15:11:33.662Z,1628953893.662 [lineCaptureDepth:J] Running Loop=1
2021-08-14T15:11:34.104Z,1628953894.104 [lineCaptureDepth:J] Stopped
2021-08-14T15:11:34.104Z,1628953894.104 [lineCaptureDepth:M] Running Loop=1
2021-08-14T15:11:34.452Z,1628953894.452 [lineCaptureDepth:M] Stopped
2021-08-14T15:11:34.452Z,1628953894.452 [lineCaptureDepth:N] Running Loop=1
2021-08-14T15:11:34.928Z,1628953894.928 [lineCaptureDepth:N] Stopped
2021-08-14T15:11:34.929Z,1628953894.929 [lineCaptureDepth:O] Running Loop=1
2021-08-14T15:11:34.929Z,1628953894.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:11:35.249Z,1628953895.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:11:35.249Z,1628953895.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:11:35.249Z,1628953895.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:11:35.250Z,1628953895.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:11:35.340Z,1628953895.340 [lineCaptureDepth:O] Stopped
2021-08-14T15:11:35.340Z,1628953895.340 [lineCaptureDepth:Lap] Running Loop=1
2021-08-14T15:11:35.340Z,1628953895.340 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T15:11:35.341Z,1628953895.341 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T15:11:35.661Z,1628953895.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00A06,189,80,80,5C,FF
2021-08-14T15:11:35.662Z,1628953895.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:11:35.662Z,1628953895.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:11:35.672Z,1628953895.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:11:35.743Z,1628953895.743 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T15:11:35.743Z,1628953895.743 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T15:11:35.743Z,1628953895.743 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T15:11:35.997Z,1628953895.997 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-14T15:11:36.061Z,1628953896.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:11:36.160Z,1628953896.160 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T15:11:36.160Z,1628953896.160 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T15:11:36.160Z,1628953896.160 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T15:11:36.160Z,1628953896.160 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T15:11:36.160Z,1628953896.160 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T15:11:36.160Z,1628953896.160 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T15:11:36.161Z,1628953896.161 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T15:11:36.162Z,1628953896.162 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T15:11:36.162Z,1628953896.162 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T15:11:36.162Z,1628953896.162 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T15:11:36.162Z,1628953896.162 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T15:11:36.162Z,1628953896.162 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T15:11:36.162Z,1628953896.162 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T15:11:36.162Z,1628953896.162 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T15:11:36.163Z,1628953896.163 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T15:11:36.172Z,1628953896.172 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T15:11:36.172Z,1628953896.172 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T15:11:36.172Z,1628953896.172 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T15:11:36.173Z,1628953896.173 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T15:11:36.173Z,1628953896.173 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T15:11:36.173Z,1628953896.173 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T15:11:36.461Z,1628953896.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,004D8,189,80,80,AC,FF
2021-08-14T15:11:36.462Z,1628953896.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:11:36.557Z,1628953896.557 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T15:11:36.557Z,1628953896.557 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T15:11:36.869Z,1628953896.869 [Micromodem](INFO): Nmea in: $SNTTA,0.325894,0.325538,,,151137.42*53

2021-08-14T15:11:36.931Z,1628953896.931 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T15:11:36.931Z,1628953896.931 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T15:11:37.293Z,1628953897.293 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T15:11:37.293Z,1628953897.293 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T15:11:37.706Z,1628953897.706 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T15:11:37.706Z,1628953897.706 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T15:11:37.707Z,1628953897.707 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T15:11:37.712Z,1628953897.712 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T15:11:37.712Z,1628953897.712 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T15:11:37.712Z,1628953897.712 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T15:11:37.712Z,1628953897.712 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T15:11:37.713Z,1628953897.713 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T15:11:37.713Z,1628953897.713 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T15:11:37.713Z,1628953897.713 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T15:11:37.713Z,1628953897.713 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T15:11:37.713Z,1628953897.713 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T15:11:37.713Z,1628953897.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T15:11:37.713Z,1628953897.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T15:11:37.714Z,1628953897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T15:11:37.714Z,1628953897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T15:11:37.714Z,1628953897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T15:11:37.714Z,1628953897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T15:11:37.714Z,1628953897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T15:11:37.714Z,1628953897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T15:11:37.714Z,1628953897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T15:11:38.098Z,1628953898.098 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T15:11:38.099Z,1628953898.099 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T15:11:38.099Z,1628953898.099 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T15:11:38.099Z,1628953898.099 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T15:11:38.099Z,1628953898.099 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T15:11:38.099Z,1628953898.099 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T15:11:38.099Z,1628953898.099 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T15:11:38.099Z,1628953898.099 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T15:11:38.498Z,1628953898.498 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:11:39.336Z,1628953899.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:11:39.736Z,1628953899.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:11:39.736Z,1628953899.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:11:39.736Z,1628953899.736 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:11:39.737Z,1628953899.737 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:11:40.117Z,1628953900.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,004D8,189,80,80,AC,FF
2021-08-14T15:11:40.117Z,1628953900.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:11:40.117Z,1628953900.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:11:40.119Z,1628953900.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:11:40.567Z,1628953900.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:11:40.965Z,1628953900.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,004CA,189,80,80,AC,FF
2021-08-14T15:11:40.965Z,1628953900.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:11:41.157Z,1628953901.157 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T15:11:41.362Z,1628953901.362 [Micromodem](INFO): Nmea in: $SNTTA,0.033789,,,,151141.87*48

2021-08-14T15:11:41.377Z,1628953901.377 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T15:11:43.790Z,1628953903.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:11:44.157Z,1628953904.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:11:44.157Z,1628953904.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:11:44.157Z,1628953904.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:11:44.158Z,1628953904.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:11:44.604Z,1628953904.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,004CA,189,80,80,AC,FF
2021-08-14T15:11:44.605Z,1628953904.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:11:44.605Z,1628953904.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:11:44.606Z,1628953904.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:11:44.979Z,1628953904.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:11:45.369Z,1628953905.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,004C2,187,80,80,8F,FF
2021-08-14T15:11:45.370Z,1628953905.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:11:45.799Z,1628953905.799 [Micromodem](INFO): Nmea in: $SNTTA,,0.041731,,,151146.35*40

2021-08-14T15:11:48.230Z,1628953908.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:11:48.605Z,1628953908.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:11:48.605Z,1628953908.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:11:48.605Z,1628953908.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:11:48.606Z,1628953908.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:11:49.002Z,1628953909.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,004C2,187,80,80,8F,FF
2021-08-14T15:11:49.003Z,1628953909.003 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:11:49.003Z,1628953909.003 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:11:49.005Z,1628953909.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:11:49.421Z,1628953909.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:11:49.809Z,1628953909.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,004B2,189,80,80,AF,FF
2021-08-14T15:11:49.810Z,1628953909.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:11:50.250Z,1628953910.250 [Micromodem](INFO): Nmea in: $SNTTA,0.039187,,,,151150.75*47

2021-08-14T15:11:52.735Z,1628953912.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:11:53.049Z,1628953913.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:11:53.049Z,1628953913.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:11:53.049Z,1628953913.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:11:53.050Z,1628953913.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:11:53.481Z,1628953913.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,004B2,189,80,80,AF,FF
2021-08-14T15:11:53.481Z,1628953913.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:11:53.481Z,1628953913.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:11:53.483Z,1628953913.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:11:53.860Z,1628953913.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:11:54.257Z,1628953914.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAE,000,004A8,189,80,80,B3,FF
2021-08-14T15:11:54.257Z,1628953914.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:11:54.679Z,1628953914.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151155.23*5B

2021-08-14T15:11:56.780Z,1628953916.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:11:57.097Z,1628953917.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:11:57.097Z,1628953917.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:11:57.097Z,1628953917.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:11:57.098Z,1628953917.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:11:57.493Z,1628953917.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAE,000,004A8,189,80,80,B3,FF
2021-08-14T15:11:57.493Z,1628953917.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:11:57.493Z,1628953917.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:11:57.495Z,1628953917.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:11:57.900Z,1628953917.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:11:58.297Z,1628953918.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,0049E,189,80,80,AF,FF
2021-08-14T15:11:58.297Z,1628953918.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:11:58.729Z,1628953918.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151159.24*50

2021-08-14T15:12:01.142Z,1628953921.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:01.525Z,1628953921.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:01.525Z,1628953921.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:01.525Z,1628953921.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:01.526Z,1628953921.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:01.561Z,1628953921.561 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 33.42 m. Transitioning DDM to standby.
2021-08-14T15:12:01.942Z,1628953921.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,0049E,189,80,80,AF,FF
2021-08-14T15:12:01.942Z,1628953921.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:01.942Z,1628953921.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:01.944Z,1628953921.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:02.344Z,1628953922.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:02.745Z,1628953922.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,00496,186,80,80,97,FF
2021-08-14T15:12:02.745Z,1628953922.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:03.181Z,1628953923.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151203.69*55

2021-08-14T15:12:04.012Z,1628953924.012 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T15:12:04.390Z,1628953924.390 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T15:12:04.390Z,1628953924.390 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T15:12:04.390Z,1628953924.390 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T15:12:04.811Z,1628953924.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T15:12:04.811Z,1628953924.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T15:12:04.811Z,1628953924.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T15:12:05.206Z,1628953925.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T15:12:05.206Z,1628953925.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T15:12:05.206Z,1628953925.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T15:12:05.206Z,1628953925.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T15:12:05.206Z,1628953925.206 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T15:12:05.578Z,1628953925.578 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T15:12:05.579Z,1628953925.579 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T15:12:05.579Z,1628953925.579 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T15:12:05.579Z,1628953925.579 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T15:12:05.584Z,1628953925.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T15:12:05.584Z,1628953925.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T15:12:05.584Z,1628953925.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T15:12:05.585Z,1628953925.585 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T15:12:05.586Z,1628953925.586 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 32.939999 m 
2021-08-14T15:12:05.586Z,1628953925.586 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T15:12:05.586Z,1628953925.586 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T15:12:05.587Z,1628953925.587 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T15:12:05.587Z,1628953925.587 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T15:12:05.587Z,1628953925.587 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T15:12:05.587Z,1628953925.587 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T15:12:05.597Z,1628953925.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:05.941Z,1628953925.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:05.941Z,1628953925.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:05.941Z,1628953925.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:05.942Z,1628953925.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:05.970Z,1628953925.970 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T15:12:05.970Z,1628953925.970 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T15:12:05.970Z,1628953925.970 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T15:12:05.970Z,1628953925.970 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T15:12:05.970Z,1628953925.970 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T15:12:05.971Z,1628953925.971 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T15:12:05.988Z,1628953925.988 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T15:12:05.988Z,1628953925.988 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T15:12:06.365Z,1628953926.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,00496,186,80,80,97,FF
2021-08-14T15:12:06.365Z,1628953926.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:06.366Z,1628953926.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:06.367Z,1628953926.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:06.489Z,1628953926.489 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T15:12:06.489Z,1628953926.489 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T15:12:06.489Z,1628953926.489 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T15:12:06.489Z,1628953926.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:12:06.490Z,1628953926.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:12:06.490Z,1628953926.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:12:06.496Z,1628953926.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:12:06.497Z,1628953926.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:12:06.497Z,1628953926.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:12:06.505Z,1628953926.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T15:12:06.505Z,1628953926.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T15:12:06.506Z,1628953926.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T15:12:06.506Z,1628953926.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T15:12:06.507Z,1628953926.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T15:12:06.507Z,1628953926.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T15:12:06.511Z,1628953926.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T15:12:06.520Z,1628953926.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T15:12:06.521Z,1628953926.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T15:12:06.521Z,1628953926.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T15:12:06.522Z,1628953926.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T15:12:06.523Z,1628953926.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T15:12:06.529Z,1628953926.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T15:12:06.531Z,1628953926.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T15:12:06.535Z,1628953926.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T15:12:06.535Z,1628953926.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T15:12:06.535Z,1628953926.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T15:12:06.545Z,1628953926.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T15:12:06.545Z,1628953926.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T15:12:06.552Z,1628953926.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-14T15:12:06.554Z,1628953926.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:12:06.555Z,1628953926.555 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T15:12:06.560Z,1628953926.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T15:12:06.561Z,1628953926.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T15:12:06.561Z,1628953926.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T15:12:06.561Z,1628953926.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T15:12:06.561Z,1628953926.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T15:12:06.562Z,1628953926.562 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T15:12:06.562Z,1628953926.562 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T15:12:06.562Z,1628953926.562 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T15:12:06.764Z,1628953926.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:06.854Z,1628953926.854 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:12:06.855Z,1628953926.855 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:12:06.855Z,1628953926.855 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:12:06.855Z,1628953926.855 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:12:06.877Z,1628953926.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 211.702915 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:12:06.878Z,1628953926.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.94 m.
2021-08-14T15:12:06.879Z,1628953926.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 211.702915deg and heading rate command to 0 deg/s.
2021-08-14T15:12:07.153Z,1628953927.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,00488,186,80,80,68,FF
2021-08-14T15:12:07.154Z,1628953927.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:07.213Z,1628953927.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:07.702Z,1628953927.702 [Micromodem](INFO): Nmea in: $SNTTA,0.037978,,,,151208.12*4E

2021-08-14T15:12:07.724Z,1628953927.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 214.399788 deg, deltaT: 4.397162 s, approachRate: -0.191032 m/s, LOS rate: 0.613321 deg/s, posRepo size: 2
2021-08-14T15:12:07.724Z,1628953927.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.10 m.
2021-08-14T15:12:07.725Z,1628953927.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 0.613321 deg/s. Setting heading cmd to target bearing of 214.399788deg and heading rate command to 0 deg/s.
2021-08-14T15:12:10.096Z,1628953930.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:10.417Z,1628953930.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:10.417Z,1628953930.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:10.417Z,1628953930.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:10.418Z,1628953930.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:10.833Z,1628953930.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,00488,186,80,80,68,FF
2021-08-14T15:12:10.834Z,1628953930.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:10.834Z,1628953930.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:10.835Z,1628953930.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:11.292Z,1628953931.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:11.690Z,1628953931.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC7,000,00479,189,80,80,24,FF
2021-08-14T15:12:11.690Z,1628953931.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:11.745Z,1628953931.745 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:12.105Z,1628953932.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151212.59*56

2021-08-14T15:12:12.128Z,1628953932.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 258.382696 deg, deltaT: 4.532222 s, approachRate: -0.198578 m/s, LOS rate: 9.704491 deg/s, posRepo size: 3
2021-08-14T15:12:12.128Z,1628953932.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2021-08-14T15:12:12.130Z,1628953932.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 258.382696 deg,
      approachRate: -0.198578 m/s,
      LOS rate: 9.704491 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 214.399788 deg,
      new cmd heading: 214.399788 deg.

2021-08-14T15:12:14.586Z,1628953934.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:14.921Z,1628953934.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:14.921Z,1628953934.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:14.921Z,1628953934.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:14.922Z,1628953934.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:15.329Z,1628953935.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC7,000,00479,189,80,80,24,FF
2021-08-14T15:12:15.330Z,1628953935.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:15.330Z,1628953935.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:15.331Z,1628953935.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:15.761Z,1628953935.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:16.141Z,1628953936.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,0047B,189,80,80,5F,FF
2021-08-14T15:12:16.142Z,1628953936.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:16.162Z,1628953936.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:16.609Z,1628953936.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151217.08*57

2021-08-14T15:12:16.705Z,1628953936.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 264.565930 deg, deltaT: 4.416910 s, approachRate: 0.027169 m/s, LOS rate: 1.399900 deg/s, posRepo size: 4
2021-08-14T15:12:16.706Z,1628953936.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.32 m.
2021-08-14T15:12:16.714Z,1628953936.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.320002 m,
      bearing: 264.565930 deg,
      approachRate: 0.027169 m/s,
      LOS rate: 1.399900 deg/s,
      cmd update: 4.199701 deg/s,
      cmd heading: 267.740522 deg,
      new cmd heading: 274.085690 deg.

2021-08-14T15:12:18.754Z,1628953938.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:19.026Z,1628953939.026 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:19.026Z,1628953939.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:19.027Z,1628953939.027 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:19.027Z,1628953939.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:19.437Z,1628953939.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,0047B,189,80,80,5F,FF
2021-08-14T15:12:19.437Z,1628953939.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:19.437Z,1628953939.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:19.439Z,1628953939.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:19.860Z,1628953939.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:20.241Z,1628953940.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,0048A,18A,80,80,24,FF
2021-08-14T15:12:20.241Z,1628953940.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:20.286Z,1628953940.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:20.790Z,1628953940.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151221.19*52

2021-08-14T15:12:20.826Z,1628953940.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 200.183200 deg, deltaT: 4.123974 s, approachRate: 0.218236 m/s, LOS rate: -15.611818 deg/s, posRepo size: 4
2021-08-14T15:12:20.826Z,1628953940.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.22 m.
2021-08-14T15:12:20.827Z,1628953940.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.22 m.
2021-08-14T15:12:20.827Z,1628953940.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:12:20.827Z,1628953940.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.611818 deg/s. Setting heading cmd to target bearing of 200.183200deg and heading rate command to 0 deg/s.
2021-08-14T15:12:22.816Z,1628953942.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:23.157Z,1628953943.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:23.157Z,1628953943.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:23.157Z,1628953943.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:23.158Z,1628953943.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:23.541Z,1628953943.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,0048A,18A,80,80,24,FF
2021-08-14T15:12:23.541Z,1628953943.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:23.541Z,1628953943.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:23.543Z,1628953943.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:23.960Z,1628953943.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:24.349Z,1628953944.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,00493,189,80,80,8A,FF
2021-08-14T15:12:24.350Z,1628953944.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:24.370Z,1628953944.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:24.793Z,1628953944.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151225.29*55

2021-08-14T15:12:24.847Z,1628953944.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 279.244389 deg, deltaT: 4.084316 s, approachRate: 0.132213 m/s, LOS rate: 19.357265 deg/s, posRepo size: 4
2021-08-14T15:12:24.849Z,1628953944.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.357265 deg/s. Setting heading cmd to target bearing of 279.244389deg and heading rate command to 0 deg/s.
2021-08-14T15:12:27.195Z,1628953947.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:27.585Z,1628953947.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:27.585Z,1628953947.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:27.585Z,1628953947.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:27.586Z,1628953947.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:27.990Z,1628953947.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,00493,189,80,80,8A,FF
2021-08-14T15:12:27.990Z,1628953947.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:27.990Z,1628953947.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:27.992Z,1628953947.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:28.388Z,1628953948.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:28.797Z,1628953948.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,004A1,189,80,80,AB,FF
2021-08-14T15:12:28.797Z,1628953948.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:28.897Z,1628953948.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:29.261Z,1628953949.261 [Micromodem](INFO): Nmea in: $SNTTA,0.061892,,,,151229.74*4B

2021-08-14T15:12:29.285Z,1628953949.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.600002 m, bearing: 300.872401 deg, deltaT: 4.526518 s, approachRate: 0.185573 m/s, LOS rate: 4.778068 deg/s, posRepo size: 4
2021-08-14T15:12:29.287Z,1628953949.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.600002 m,
      bearing: 300.872401 deg,
      approachRate: 0.185573 m/s,
      LOS rate: 4.778068 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 279.244389 deg,
      new cmd heading: 279.244389 deg.

2021-08-14T15:12:31.647Z,1628953951.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:32.029Z,1628953952.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:32.030Z,1628953952.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:32.030Z,1628953952.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:32.031Z,1628953952.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:32.477Z,1628953952.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,004A1,189,80,80,AB,FF
2021-08-14T15:12:32.477Z,1628953952.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:32.477Z,1628953952.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:32.479Z,1628953952.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:32.911Z,1628953952.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:33.317Z,1628953953.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,004AB,189,80,80,BD,FF
2021-08-14T15:12:33.318Z,1628953953.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:33.488Z,1628953953.488 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:33.757Z,1628953953.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151234.23*5F

2021-08-14T15:12:33.812Z,1628953953.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 312.334114 deg, deltaT: 4.591688 s, approachRate: 0.130671 m/s, LOS rate: 2.496187 deg/s, posRepo size: 4
2021-08-14T15:12:33.814Z,1628953953.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.200001 m,
      bearing: 312.334114 deg,
      approachRate: 0.130671 m/s,
      LOS rate: 2.496187 deg/s,
      cmd update: 7.488561 deg/s,
      cmd heading: 334.172614 deg,
      new cmd heading: 337.989790 deg.

2021-08-14T15:12:36.158Z,1628953956.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:36.593Z,1628953956.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:36.593Z,1628953956.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:36.593Z,1628953956.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:36.594Z,1628953956.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:37.013Z,1628953957.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,004AB,189,80,80,BD,FF
2021-08-14T15:12:37.013Z,1628953957.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:37.013Z,1628953957.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:37.015Z,1628953957.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:37.446Z,1628953957.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:37.814Z,1628953957.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF8,000,004BA,189,80,80,B1,FF
2021-08-14T15:12:37.814Z,1628953957.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:37.834Z,1628953957.834 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:38.245Z,1628953958.245 [Micromodem](INFO): Nmea in: $SNTTA,0.051792,,,,151238.76*45

2021-08-14T15:12:38.296Z,1628953958.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 310.090315 deg, deltaT: 4.345591 s, approachRate: 0.207106 m/s, LOS rate: -0.516339 deg/s, posRepo size: 4
2021-08-14T15:12:38.298Z,1628953958.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.099998 m,
      bearing: 310.090315 deg,
      approachRate: 0.207106 m/s,
      LOS rate: -0.516339 deg/s,
      cmd update: -1.549018 deg/s,
      cmd heading: 6.888686 deg,
      new cmd heading: 10.337154 deg.

2021-08-14T15:12:40.708Z,1628953960.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:41.051Z,1628953961.051 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:41.051Z,1628953961.051 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:41.051Z,1628953961.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:41.052Z,1628953961.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:41.445Z,1628953961.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF8,000,004BA,189,80,80,B1,FF
2021-08-14T15:12:41.445Z,1628953961.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:41.445Z,1628953961.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:41.447Z,1628953961.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:41.885Z,1628953961.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:42.280Z,1628953962.280 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,004BE,187,80,80,C3,FF
2021-08-14T15:12:42.280Z,1628953962.280 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:42.314Z,1628953962.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:42.717Z,1628953962.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151243.20*5C

2021-08-14T15:12:42.777Z,1628953962.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 308.934319 deg, deltaT: 4.480223 s, approachRate: 0.053569 m/s, LOS rate: -0.258022 deg/s, posRepo size: 4
2021-08-14T15:12:42.779Z,1628953962.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 308.934319 deg,
      approachRate: 0.053569 m/s,
      LOS rate: -0.258022 deg/s,
      cmd update: -0.774066 deg/s,
      cmd heading: 359.948688 deg,
      new cmd heading: 359.234346 deg.

2021-08-14T15:12:45.127Z,1628953965.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:45.505Z,1628953965.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:45.506Z,1628953965.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:45.506Z,1628953965.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:45.507Z,1628953965.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:45.921Z,1628953965.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,004BE,187,80,80,C3,FF
2021-08-14T15:12:45.921Z,1628953965.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:45.921Z,1628953965.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:45.923Z,1628953965.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:46.317Z,1628953966.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:46.730Z,1628953966.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,004BC,189,80,80,99,FF
2021-08-14T15:12:46.730Z,1628953966.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:46.813Z,1628953966.813 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:47.149Z,1628953967.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151247.67*5B

2021-08-14T15:12:47.172Z,1628953967.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.220001 m, bearing: 333.598078 deg, deltaT: 4.498920 s, approachRate: -0.026673 m/s, LOS rate: 5.482151 deg/s, posRepo size: 4
2021-08-14T15:12:47.174Z,1628953967.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.220001 m,
      bearing: 333.598078 deg,
      approachRate: -0.026673 m/s,
      LOS rate: 5.482151 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.469333 deg,
      new cmd heading: 356.186560 deg.

2021-08-14T15:12:48.789Z,1628953968.789 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:12:49.577Z,1628953969.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:49.953Z,1628953969.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:49.953Z,1628953969.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:49.953Z,1628953969.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:49.954Z,1628953969.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:50.365Z,1628953970.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,004BC,189,80,80,99,FF
2021-08-14T15:12:50.365Z,1628953970.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:50.365Z,1628953970.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:50.367Z,1628953970.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:50.776Z,1628953970.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:51.606Z,1628953971.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151252.11*5E

2021-08-14T15:12:52.398Z,1628953972.398 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:12:52.455Z,1628953972.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:54.003Z,1628953974.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,99,FF
2021-08-14T15:12:54.003Z,1628953974.003 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,99,FF
2021-08-14T15:12:54.003Z,1628953974.003 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:12:55.220Z,1628953975.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:12:55.617Z,1628953975.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:12:55.617Z,1628953975.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:12:55.617Z,1628953975.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:12:55.618Z,1628953975.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:12:56.010Z,1628953976.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,99,FF
2021-08-14T15:12:56.010Z,1628953976.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:12:56.010Z,1628953976.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:12:56.012Z,1628953976.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:12:56.432Z,1628953976.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:12:56.818Z,1628953976.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B97,000,00494,189,80,80,B3,FF
2021-08-14T15:12:56.819Z,1628953976.819 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:12:56.952Z,1628953976.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:12:57.281Z,1628953977.281 [Micromodem](INFO): Nmea in: $SNTTA,0.021534,0.319934,,,151257.76*5E

2021-08-14T15:12:57.304Z,1628953977.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 28.396267 deg, deltaT: 10.138980 s, approachRate: -0.236710 m/s, LOS rate: 5.404704 deg/s, posRepo size: 4
2021-08-14T15:12:57.306Z,1628953977.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 28.396267 deg,
      approachRate: -0.236710 m/s,
      LOS rate: 5.404704 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 118.083349 deg,
      new cmd heading: 122.437789 deg.

2021-08-14T15:12:59.717Z,1628953979.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:00.089Z,1628953980.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:00.089Z,1628953980.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:00.089Z,1628953980.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:00.090Z,1628953980.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:00.490Z,1628953980.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B97,000,00494,189,80,80,B3,FF
2021-08-14T15:13:00.490Z,1628953980.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:00.491Z,1628953980.491 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:00.497Z,1628953980.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:00.896Z,1628953980.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:01.301Z,1628953981.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C11,000,0046D,189,80,80,BC,FF
2021-08-14T15:13:01.301Z,1628953981.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:01.368Z,1628953981.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:01.746Z,1628953981.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151302.25*5D

2021-08-14T15:13:01.769Z,1628953981.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 39.821970 deg, deltaT: 4.417344 s, approachRate: -0.529730 m/s, LOS rate: 2.586555 deg/s, posRepo size: 4
2021-08-14T15:13:01.775Z,1628953981.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 39.821970 deg,
      approachRate: -0.529730 m/s,
      LOS rate: 2.586555 deg/s,
      cmd update: 7.759664 deg/s,
      cmd heading: 171.028431 deg,
      new cmd heading: 176.006463 deg.

2021-08-14T15:13:04.143Z,1628953984.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:04.577Z,1628953984.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:04.577Z,1628953984.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:04.577Z,1628953984.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:04.578Z,1628953984.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:04.933Z,1628953984.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C11,000,0046D,189,80,80,BC,FF
2021-08-14T15:13:04.933Z,1628953984.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:04.933Z,1628953984.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:04.935Z,1628953984.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:05.345Z,1628953985.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:05.745Z,1628953985.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,00445,189,80,80,DB,FF
2021-08-14T15:13:05.746Z,1628953985.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:05.771Z,1628953985.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:06.189Z,1628953986.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151306.68*50

2021-08-14T15:13:06.224Z,1628953986.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.079998 m, bearing: 45.448461 deg, deltaT: 4.401134 s, approachRate: -0.545314 m/s, LOS rate: 1.278419 deg/s, posRepo size: 4
2021-08-14T15:13:06.226Z,1628953986.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.079998 m,
      bearing: 45.448461 deg,
      approachRate: -0.545314 m/s,
      LOS rate: 1.278419 deg/s,
      cmd update: 3.835256 deg/s,
      cmd heading: 205.247386 deg,
      new cmd heading: 208.828875 deg.

2021-08-14T15:13:08.651Z,1628953988.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:08.997Z,1628953988.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:08.997Z,1628953988.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:08.997Z,1628953988.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:08.998Z,1628953988.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:09.397Z,1628953989.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2C,000,00445,189,80,80,DB,FF
2021-08-14T15:13:09.397Z,1628953989.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:09.397Z,1628953989.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:09.399Z,1628953989.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:09.780Z,1628953989.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:09.793Z,1628953989.793 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:13:10.185Z,1628953990.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,00419,189,80,80,C9,FF
2021-08-14T15:13:10.186Z,1628953990.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:10.247Z,1628953990.247 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:10.653Z,1628953990.653 [Micromodem](INFO): Nmea in: $SNTTA,0.019210,,,,151311.15*49

2021-08-14T15:13:10.738Z,1628953990.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 45.319924 deg, deltaT: 4.480929 s, approachRate: -0.589163 m/s, LOS rate: -0.028685 deg/s, posRepo size: 4
2021-08-14T15:13:10.741Z,1628953990.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.440001 m,
      bearing: 45.319924 deg,
      approachRate: -0.589163 m/s,
      LOS rate: -0.028685 deg/s,
      cmd update: -0.086056 deg/s,
      cmd heading: 222.420181 deg,
      new cmd heading: 224.330503 deg.

2021-08-14T15:13:13.065Z,1628953993.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:13.429Z,1628953993.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:13.429Z,1628953993.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:13.429Z,1628953993.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:13.430Z,1628953993.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:13.833Z,1628953993.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,00419,189,80,80,C9,FF
2021-08-14T15:13:13.833Z,1628953993.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:13.834Z,1628953993.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:13.835Z,1628953993.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:14.232Z,1628953994.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:14.657Z,1628953994.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C85,000,003E8,189,80,80,CF,FF
2021-08-14T15:13:14.658Z,1628953994.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:14.662Z,1628953994.662 [Micromodem](INFO): Nmea in: $SNTTA,0.066984,0.281982,,,151315.59*5D

2021-08-14T15:13:14.786Z,1628953994.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:15.075Z,1628953995.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 51.693290 deg, deltaT: 4.534835 s, approachRate: -0.648315 m/s, LOS rate: 1.405424 deg/s, posRepo size: 4
2021-08-14T15:13:15.078Z,1628953995.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 51.693290 deg,
      approachRate: -0.648315 m/s,
      LOS rate: 1.405424 deg/s,
      cmd update: 4.216272 deg/s,
      cmd heading: 222.029917 deg,
      new cmd heading: 222.004082 deg.

2021-08-14T15:13:17.514Z,1628953997.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:17.857Z,1628953997.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:17.857Z,1628953997.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:17.858Z,1628953997.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:17.859Z,1628953997.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:18.265Z,1628953998.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C85,000,003E8,189,80,80,CF,FF
2021-08-14T15:13:18.266Z,1628953998.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:18.266Z,1628953998.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:18.268Z,1628953998.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:18.706Z,1628953998.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:19.108Z,1628953999.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF7,000,003C5,189,80,80,9F,FF
2021-08-14T15:13:19.109Z,1628953999.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:19.234Z,1628953999.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:19.529Z,1628953999.529 [Micromodem](INFO): Nmea in: $SNTTA,0.038007,,,,151320.02*4A

2021-08-14T15:13:19.600Z,1628953999.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 39.049349 deg, deltaT: 4.447103 s, approachRate: -0.472217 m/s, LOS rate: -2.843186 deg/s, posRepo size: 4
2021-08-14T15:13:19.602Z,1628953999.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.400002 m,
      bearing: 39.049349 deg,
      approachRate: -0.472217 m/s,
      LOS rate: -2.843186 deg/s,
      cmd update: -8.529557 deg/s,
      cmd heading: 240.780271 deg,
      new cmd heading: 242.207748 deg.

2021-08-14T15:13:21.971Z,1628954001.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:22.349Z,1628954002.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:22.349Z,1628954002.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:22.350Z,1628954002.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:22.351Z,1628954002.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:22.825Z,1628954002.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF7,000,003C5,189,80,80,9F,FF
2021-08-14T15:13:22.825Z,1628954002.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:22.825Z,1628954002.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:22.827Z,1628954002.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:23.288Z,1628954003.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:23.702Z,1628954003.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,003B5,189,80,80,A2,FF
2021-08-14T15:13:23.703Z,1628954003.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:23.833Z,1628954003.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:24.137Z,1628954004.137 [Micromodem](INFO): Nmea in: $SNTTA,0.015530,,,,151324.58*4F

2021-08-14T15:13:24.158Z,1628954004.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 356.915688 deg, deltaT: 4.599330 s, approachRate: -0.208726 m/s, LOS rate: -9.160824 deg/s, posRepo size: 4
2021-08-14T15:13:24.193Z,1628954004.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.440001 m,
      bearing: 356.915688 deg,
      approachRate: -0.208726 m/s,
      LOS rate: -9.160824 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 201.516466 deg,
      new cmd heading: 198.678767 deg.

2021-08-14T15:13:26.709Z,1628954006.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:26.953Z,1628954006.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:26.953Z,1628954006.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:26.953Z,1628954006.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:26.954Z,1628954006.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:27.354Z,1628954007.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,003B5,189,80,80,A2,FF
2021-08-14T15:13:27.354Z,1628954007.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:27.354Z,1628954007.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:27.356Z,1628954007.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:27.773Z,1628954007.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:28.189Z,1628954008.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5D,000,003B5,189,80,80,8F,FF
2021-08-14T15:13:28.190Z,1628954008.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:28.342Z,1628954008.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:28.639Z,1628954008.639 [Micromodem](INFO): Nmea in: $SNTTA,0.057013,0.482531,,,151329.10*5B

2021-08-14T15:13:28.749Z,1628954008.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 334.768526 deg, deltaT: 4.509304 s, approachRate: 0.000000 m/s, LOS rate: -4.911437 deg/s, posRepo size: 4
2021-08-14T15:13:28.751Z,1628954008.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.440001 m,
      bearing: 334.768526 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.911437 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 147.577208 deg,
      new cmd heading: 142.486904 deg.

2021-08-14T15:13:30.966Z,1628954010.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:31.129Z,1628954011.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:31.129Z,1628954011.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:31.129Z,1628954011.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:31.130Z,1628954011.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:31.509Z,1628954011.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5D,000,003B5,189,80,80,8F,FF
2021-08-14T15:13:31.509Z,1628954011.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:31.509Z,1628954011.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:31.511Z,1628954011.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:31.940Z,1628954011.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:32.321Z,1628954012.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,003C3,186,80,80,99,FF
2021-08-14T15:13:32.322Z,1628954012.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:32.375Z,1628954012.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:32.777Z,1628954012.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151333.27*5D

2021-08-14T15:13:32.851Z,1628954012.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 285.099199 deg, deltaT: 4.037344 s, approachRate: 0.208058 m/s, LOS rate: -12.302476 deg/s, posRepo size: 4
2021-08-14T15:13:32.856Z,1628954012.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.302476 deg/s. Setting heading cmd to target bearing of 285.099199deg and heading rate command to 0 deg/s.
2021-08-14T15:13:35.254Z,1628954015.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:35.569Z,1628954015.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:35.569Z,1628954015.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:35.569Z,1628954015.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:35.570Z,1628954015.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:35.973Z,1628954015.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,003C3,186,80,80,99,FF
2021-08-14T15:13:35.973Z,1628954015.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:35.973Z,1628954015.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:35.975Z,1628954015.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:36.372Z,1628954016.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:36.785Z,1628954016.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,003DD,18A,80,80,6F,FF
2021-08-14T15:13:36.785Z,1628954016.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:36.789Z,1628954016.789 [Micromodem](INFO): Nmea in: $SNTTA,0.081402,0.173508,,,151337.73*5F

2021-08-14T15:13:36.865Z,1628954016.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:37.225Z,1628954017.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 300.867210 deg, deltaT: 4.485524 s, approachRate: 0.347786 m/s, LOS rate: 3.515311 deg/s, posRepo size: 4
2021-08-14T15:13:37.227Z,1628954017.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.840002 m,
      bearing: 300.867210 deg,
      approachRate: 0.347786 m/s,
      LOS rate: 3.515311 deg/s,
      cmd update: 10.545932 deg/s,
      cmd heading: 285.099199 deg,
      new cmd heading: 285.099199 deg.

2021-08-14T15:13:39.622Z,1628954019.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:40.013Z,1628954020.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:40.013Z,1628954020.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:40.013Z,1628954020.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:40.014Z,1628954020.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:40.413Z,1628954020.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,003DD,18A,80,80,6F,FF
2021-08-14T15:13:40.413Z,1628954020.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:40.413Z,1628954020.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:40.415Z,1628954020.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:40.860Z,1628954020.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:41.259Z,1628954021.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD7,000,003F1,185,80,80,79,FF
2021-08-14T15:13:41.260Z,1628954021.260 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:41.280Z,1628954021.280 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:41.706Z,1628954021.706 [Micromodem](INFO): Nmea in: $SNTTA,0.038000,,,,151342.17*4D

2021-08-14T15:13:41.776Z,1628954021.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 250.564452 deg, deltaT: 4.414894 s, approachRate: 0.271807 m/s, LOS rate: -11.393877 deg/s, posRepo size: 4
2021-08-14T15:13:41.778Z,1628954021.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.039999 m,
      bearing: 250.564452 deg,
      approachRate: 0.271807 m/s,
      LOS rate: -11.393877 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 331.697742 deg,
      new cmd heading: 336.918885 deg.

2021-08-14T15:13:44.123Z,1628954024.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:44.509Z,1628954024.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:44.510Z,1628954024.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:44.510Z,1628954024.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:44.512Z,1628954024.512 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:44.897Z,1628954024.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD7,000,003F1,185,80,80,79,FF
2021-08-14T15:13:44.897Z,1628954024.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:44.897Z,1628954024.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:44.899Z,1628954024.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:45.377Z,1628954025.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:46.190Z,1628954026.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151346.65*59

2021-08-14T15:13:46.662Z,1628954026.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:48.191Z,1628954028.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,185,80,80,79,FF
2021-08-14T15:13:48.192Z,1628954028.192 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,185,80,80,79,FF
2021-08-14T15:13:48.193Z,1628954028.193 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:13:49.441Z,1628954029.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:49.802Z,1628954029.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:49.802Z,1628954029.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:49.802Z,1628954029.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:49.803Z,1628954029.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:50.206Z,1628954030.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,185,80,80,79,FF
2021-08-14T15:13:50.206Z,1628954030.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:50.206Z,1628954030.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:50.208Z,1628954030.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:50.726Z,1628954030.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:51.022Z,1628954031.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,0041D,188,80,80,9E,FF
2021-08-14T15:13:51.022Z,1628954031.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:13:51.066Z,1628954031.066 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:13:51.469Z,1628954031.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151351.96*53

2021-08-14T15:13:51.488Z,1628954031.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 226.206289 deg, deltaT: 9.785912 s, approachRate: 0.269775 m/s, LOS rate: -2.489105 deg/s, posRepo size: 4
2021-08-14T15:13:51.488Z,1628954031.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 25.68 m. Rolling out.
2021-08-14T15:13:51.489Z,1628954031.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:13:53.878Z,1628954033.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:54.253Z,1628954034.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:54.254Z,1628954034.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:54.254Z,1628954034.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:54.255Z,1628954034.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:13:54.658Z,1628954034.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,0041D,188,80,80,9E,FF
2021-08-14T15:13:54.658Z,1628954034.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:13:54.658Z,1628954034.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:13:54.660Z,1628954034.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:13:55.065Z,1628954035.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:13:55.890Z,1628954035.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151356.41*5E

2021-08-14T15:13:56.278Z,1628954036.278 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:13:56.735Z,1628954036.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:58.297Z,1628954038.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,9E,FF
2021-08-14T15:13:58.298Z,1628954038.298 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,9E,FF
2021-08-14T15:13:58.298Z,1628954038.298 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:13:59.546Z,1628954039.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:13:59.909Z,1628954039.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:13:59.910Z,1628954039.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:13:59.910Z,1628954039.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:13:59.911Z,1628954039.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:00.326Z,1628954040.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,9E,FF
2021-08-14T15:14:00.326Z,1628954040.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:00.327Z,1628954040.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:00.329Z,1628954040.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:00.739Z,1628954040.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:01.538Z,1628954041.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151402.08*55

2021-08-14T15:14:02.379Z,1628954042.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:02.768Z,1628954042.768 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:14:03.945Z,1628954043.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,9E,FF
2021-08-14T15:14:03.945Z,1628954043.945 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,9E,FF
2021-08-14T15:14:03.946Z,1628954043.946 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:14:05.213Z,1628954045.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:05.561Z,1628954045.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:05.561Z,1628954045.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:05.561Z,1628954045.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:05.562Z,1628954045.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:05.981Z,1628954045.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,9E,FF
2021-08-14T15:14:05.981Z,1628954045.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:05.981Z,1628954045.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:05.985Z,1628954045.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:06.408Z,1628954046.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:07.201Z,1628954047.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151407.74*5B

2021-08-14T15:14:07.222Z,1628954047.222 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T15:14:07.998Z,1628954047.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,036BE,186,80,80,A5,FF
2021-08-14T15:14:07.998Z,1628954047.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:14:08.037Z,1628954048.037 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:14:08.447Z,1628954048.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 803.340027 m, bearing: 254.585630 deg, deltaT: 16.971197 s, approachRate: 45.822346 m/s, LOS rate: 1.672206 deg/s, posRepo size: 4
2021-08-14T15:14:08.447Z,1628954048.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 803.34 m. Resuming terminal guidance.
2021-08-14T15:14:08.448Z,1628954048.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:14:08.853Z,1628954048.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:14:08.853Z,1628954048.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:14:08.853Z,1628954048.853 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:14:08.854Z,1628954048.854 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:14:08.854Z,1628954048.854 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:14:08.854Z,1628954048.854 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:14:09.267Z,1628954049.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:14:09.267Z,1628954049.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:14:09.267Z,1628954049.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:14:09.267Z,1628954049.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:14:10.891Z,1628954050.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:11.253Z,1628954051.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:11.253Z,1628954051.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:11.253Z,1628954051.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:11.254Z,1628954051.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:11.643Z,1628954051.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,036BE,186,80,80,A5,FF
2021-08-14T15:14:11.643Z,1628954051.643 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:11.643Z,1628954051.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:11.681Z,1628954051.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:12.041Z,1628954052.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:12.461Z,1628954052.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,00484,186,80,80,99,FF
2021-08-14T15:14:12.462Z,1628954052.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:14:12.861Z,1628954052.861 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 137
2021-08-14T15:14:12.920Z,1628954052.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 236.523440 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:14:12.920Z,1628954052.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.86 m.
2021-08-14T15:14:12.921Z,1628954052.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 236.523440deg and heading rate command to 0 deg/s.
2021-08-14T15:14:13.297Z,1628954053.297 [Micromodem](INFO): Nmea in: $SNTTA,0.044849,,,,151413.43*41

2021-08-14T15:14:13.299Z,1628954053.299 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:14:13.333Z,1628954053.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:14:13.333Z,1628954053.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:14:13.333Z,1628954053.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:14:13.334Z,1628954053.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:14:13.334Z,1628954053.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:14:13.334Z,1628954053.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:14:13.737Z,1628954053.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:14:13.738Z,1628954053.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:14:13.738Z,1628954053.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:14:13.738Z,1628954053.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:14:15.338Z,1628954055.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:15.696Z,1628954055.696 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:15.697Z,1628954055.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:15.697Z,1628954055.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:15.698Z,1628954055.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:16.069Z,1628954056.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,00484,186,80,80,99,FF
2021-08-14T15:14:16.069Z,1628954056.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:16.069Z,1628954056.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:16.071Z,1628954056.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:16.477Z,1628954056.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:17.309Z,1628954057.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151417.82*53

2021-08-14T15:14:18.150Z,1628954058.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:19.717Z,1628954059.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,99,FF
2021-08-14T15:14:19.718Z,1628954059.718 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,99,FF
2021-08-14T15:14:19.718Z,1628954059.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:14:20.967Z,1628954060.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:21.338Z,1628954061.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:21.338Z,1628954061.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:21.338Z,1628954061.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:21.339Z,1628954061.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:21.745Z,1628954061.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,99,FF
2021-08-14T15:14:21.745Z,1628954061.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:21.745Z,1628954061.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:21.747Z,1628954061.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:22.139Z,1628954062.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:22.606Z,1628954062.606 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:14:22.976Z,1628954062.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151423.50*5B

2021-08-14T15:14:23.797Z,1628954063.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:25.358Z,1628954065.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,99,FF
2021-08-14T15:14:25.358Z,1628954065.358 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,99,FF
2021-08-14T15:14:25.358Z,1628954065.358 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:14:26.696Z,1628954066.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:26.974Z,1628954066.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:26.974Z,1628954066.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:26.974Z,1628954066.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:26.975Z,1628954066.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:27.413Z,1628954067.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,99,FF
2021-08-14T15:14:27.413Z,1628954067.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:27.413Z,1628954067.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:27.415Z,1628954067.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:27.785Z,1628954067.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:28.193Z,1628954068.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,004C9,185,80,80,80,FF
2021-08-14T15:14:28.194Z,1628954068.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:14:28.214Z,1628954068.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:14:28.630Z,1628954068.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151429.16*53

2021-08-14T15:14:28.717Z,1628954068.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 247.936085 deg, deltaT: 15.636287 s, approachRate: 0.264769 m/s, LOS rate: 0.729882 deg/s, posRepo size: 2
2021-08-14T15:14:28.718Z,1628954068.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m.
2021-08-14T15:14:28.718Z,1628954068.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.00 m.
2021-08-14T15:14:28.718Z,1628954068.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:14:28.721Z,1628954068.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.999996 m,
      bearing: 247.936085 deg,
      approachRate: 0.264769 m/s,
      LOS rate: 0.729882 deg/s,
      cmd update: 2.189646 deg/s,
      cmd heading: 236.523440 deg,
      new cmd heading: 236.523440 deg.

2021-08-14T15:14:30.739Z,1628954070.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:31.017Z,1628954071.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:31.018Z,1628954071.018 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:31.018Z,1628954071.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:31.019Z,1628954071.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:31.424Z,1628954071.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,004C9,185,80,80,80,FF
2021-08-14T15:14:31.425Z,1628954071.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:31.425Z,1628954071.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:31.426Z,1628954071.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:31.860Z,1628954071.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:32.226Z,1628954072.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,004E1,185,80,80,99,FF
2021-08-14T15:14:32.226Z,1628954072.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:14:32.255Z,1628954072.255 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:14:32.661Z,1628954072.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151433.18*56

2021-08-14T15:14:32.705Z,1628954072.705 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T15:14:32.744Z,1628954072.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 238.505916 deg, deltaT: 4.040137 s, approachRate: 0.356424 m/s, LOS rate: -2.334121 deg/s, posRepo size: 3
2021-08-14T15:14:32.746Z,1628954072.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.439999 m,
      bearing: 238.505916 deg,
      approachRate: 0.356424 m/s,
      LOS rate: -2.334121 deg/s,
      cmd update: -7.002363 deg/s,
      cmd heading: 245.370057 deg,
      new cmd heading: 246.438777 deg.

2021-08-14T15:14:35.106Z,1628954075.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:35.465Z,1628954075.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:35.465Z,1628954075.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:35.465Z,1628954075.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:35.466Z,1628954075.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:35.866Z,1628954075.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,004E1,185,80,80,99,FF
2021-08-14T15:14:35.866Z,1628954075.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:35.866Z,1628954075.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:35.868Z,1628954075.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:36.273Z,1628954076.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:36.678Z,1628954076.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,004FA,185,80,80,A3,FF
2021-08-14T15:14:36.679Z,1628954076.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:14:36.794Z,1628954076.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:14:36.801Z,1628954076.801 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T15:14:36.801Z,1628954076.801 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T15:14:36.801Z,1628954076.801 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T15:14:36.801Z,1628954076.801 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:14:36.802Z,1628954076.802 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T15:14:36.802Z,1628954076.802 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T15:14:36.803Z,1628954076.803 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T15:14:37.274Z,1628954077.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151437.62*5F

2021-08-14T15:14:37.340Z,1628954077.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.939999 m, bearing: 253.168639 deg, deltaT: 4.539421 s, approachRate: 0.330439 m/s, LOS rate: 3.230087 deg/s, posRepo size: 4
2021-08-14T15:14:37.342Z,1628954077.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.939999 m,
      bearing: 253.168639 deg,
      approachRate: 0.330439 m/s,
      LOS rate: 3.230087 deg/s,
      cmd update: 9.690259 deg/s,
      cmd heading: 213.611454 deg,
      new cmd heading: 209.909921 deg.

2021-08-14T15:14:37.355Z,1628954077.355 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T15:14:37.355Z,1628954077.355 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T15:14:37.355Z,1628954077.355 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T15:14:37.355Z,1628954077.355 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:14:37.355Z,1628954077.355 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T15:14:39.714Z,1628954079.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:40.073Z,1628954080.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:40.073Z,1628954080.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:40.073Z,1628954080.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:40.074Z,1628954080.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:40.465Z,1628954080.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,004FA,185,80,80,A3,FF
2021-08-14T15:14:40.465Z,1628954080.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:40.466Z,1628954080.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:40.467Z,1628954080.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:40.874Z,1628954080.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:41.247Z,1628954081.247 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T125729/Courier0033.lzma
2021-08-14T15:14:41.278Z,1628954081.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00513,184,80,80,8B,FF
2021-08-14T15:14:41.278Z,1628954081.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:14:41.303Z,1628954081.303 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:14:41.717Z,1628954081.717 [Micromodem](INFO): Nmea in: $SNTTA,0.070174,,,,151442.22*42

2021-08-14T15:14:41.756Z,1628954081.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 244.952003 deg, deltaT: 4.508579 s, approachRate: 0.332699 m/s, LOS rate: -1.822445 deg/s, posRepo size: 4
2021-08-14T15:14:41.756Z,1628954081.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 40.44 m. Rolling out.
2021-08-14T15:14:41.757Z,1628954081.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:14:42.129Z,1628954082.129 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:14:42.129Z,1628954082.129 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:14:42.129Z,1628954082.129 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:14:42.130Z,1628954082.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:14:42.130Z,1628954082.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:14:42.130Z,1628954082.130 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:14:42.250Z,1628954082.250 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Courier0033.lzma.bak
2021-08-14T15:14:42.250Z,1628954082.250 [DataOverHttps](INFO): SBD MOMSN=437674
2021-08-14T15:14:42.602Z,1628954082.602 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:14:42.602Z,1628954082.602 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:14:42.602Z,1628954082.602 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:14:42.602Z,1628954082.602 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:14:44.162Z,1628954084.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:44.528Z,1628954084.528 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:44.529Z,1628954084.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:44.529Z,1628954084.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:44.531Z,1628954084.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:44.917Z,1628954084.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00513,184,80,80,8B,FF
2021-08-14T15:14:44.917Z,1628954084.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:44.918Z,1628954084.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:44.919Z,1628954084.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:45.317Z,1628954085.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:46.150Z,1628954086.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151446.67*5C

2021-08-14T15:14:46.972Z,1628954086.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:48.589Z,1628954088.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:48.589Z,1628954088.589 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:48.589Z,1628954088.589 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:14:49.807Z,1628954089.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:50.161Z,1628954090.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:50.161Z,1628954090.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:50.161Z,1628954090.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:50.162Z,1628954090.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:50.602Z,1628954090.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:50.602Z,1628954090.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:50.602Z,1628954090.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:50.628Z,1628954090.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:50.983Z,1628954090.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:52.198Z,1628954092.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151452.38*53

2021-08-14T15:14:52.678Z,1628954092.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:54.213Z,1628954094.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:54.213Z,1628954094.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:54.214Z,1628954094.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:14:55.450Z,1628954095.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:55.825Z,1628954095.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:14:55.825Z,1628954095.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:14:55.826Z,1628954095.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:14:55.826Z,1628954095.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:14:56.230Z,1628954096.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:56.230Z,1628954096.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:14:56.230Z,1628954096.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:14:56.234Z,1628954096.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:14:56.660Z,1628954096.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:14:57.466Z,1628954097.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151457.98*5C

2021-08-14T15:14:58.273Z,1628954098.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:14:59.861Z,1628954099.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:59.862Z,1628954099.862 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:14:59.862Z,1628954099.862 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:15:01.115Z,1628954101.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:01.477Z,1628954101.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:01.477Z,1628954101.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:01.477Z,1628954101.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:01.478Z,1628954101.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:01.893Z,1628954101.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,8B,FF
2021-08-14T15:15:01.894Z,1628954101.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:01.894Z,1628954101.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:01.897Z,1628954101.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:02.289Z,1628954102.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:02.698Z,1628954102.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C94,000,00577,189,80,80,45,FF
2021-08-14T15:15:02.699Z,1628954102.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:03.125Z,1628954103.125 [Micromodem](INFO): Nmea in: $SNTTA,0.084045,,,,151503.65*4D

2021-08-14T15:15:03.198Z,1628954103.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 308.048772 deg, deltaT: 21.475971 s, approachRate: 0.279382 m/s, LOS rate: 2.938017 deg/s, posRepo size: 4
2021-08-14T15:15:05.551Z,1628954105.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:05.930Z,1628954105.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:05.930Z,1628954105.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:05.930Z,1628954105.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:05.931Z,1628954105.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:06.329Z,1628954106.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C94,000,00577,189,80,80,45,FF
2021-08-14T15:15:06.329Z,1628954106.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:06.329Z,1628954106.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:06.331Z,1628954106.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:06.744Z,1628954106.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:07.138Z,1628954107.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,0058E,184,80,80,81,FF
2021-08-14T15:15:07.138Z,1628954107.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:07.585Z,1628954107.585 [Micromodem](INFO): Nmea in: $SNTTA,0.056942,,,,151508.08*4C

2021-08-14T15:15:07.632Z,1628954107.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 264.801107 deg, deltaT: 4.389448 s, approachRate: 0.314391 m/s, LOS rate: -9.852644 deg/s, posRepo size: 4
2021-08-14T15:15:07.885Z,1628954107.885 [CTD_Seabird](ERROR): Failed to parse device response: 24.3744,4.80051,4790.57
2021-08-14T15:15:10.011Z,1628954110.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:10.370Z,1628954110.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:10.370Z,1628954110.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:10.370Z,1628954110.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:10.371Z,1628954110.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:10.769Z,1628954110.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,0058E,184,80,80,81,FF
2021-08-14T15:15:10.769Z,1628954110.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:10.769Z,1628954110.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:10.771Z,1628954110.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:11.176Z,1628954111.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:11.577Z,1628954111.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,005A3,184,80,80,85,FF
2021-08-14T15:15:11.577Z,1628954111.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:12.018Z,1628954112.018 [Micromodem](INFO): Nmea in: $SNTTA,0.060544,,,,151512.53*46

2021-08-14T15:15:12.053Z,1628954112.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 256.171026 deg, deltaT: 4.478855 s, approachRate: 0.281322 m/s, LOS rate: -1.926850 deg/s, posRepo size: 4
2021-08-14T15:15:12.823Z,1628954112.823 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T15:15:14.427Z,1628954114.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:14.813Z,1628954114.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:14.814Z,1628954114.814 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:14.814Z,1628954114.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:14.815Z,1628954114.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:15.221Z,1628954115.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,005A3,184,80,80,85,FF
2021-08-14T15:15:15.221Z,1628954115.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:15.221Z,1628954115.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:15.223Z,1628954115.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:15.626Z,1628954115.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:16.021Z,1628954116.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,005C1,184,80,80,64,FF
2021-08-14T15:15:16.022Z,1628954116.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:16.497Z,1628954116.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151516.97*57

2021-08-14T15:15:16.577Z,1628954116.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 257.890130 deg, deltaT: 4.440732 s, approachRate: 0.405338 m/s, LOS rate: 0.387122 deg/s, posRepo size: 4
2021-08-14T15:15:18.911Z,1628954118.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:19.269Z,1628954119.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:19.269Z,1628954119.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:19.269Z,1628954119.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:19.270Z,1628954119.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:19.653Z,1628954119.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,005C1,184,80,80,64,FF
2021-08-14T15:15:19.653Z,1628954119.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:19.653Z,1628954119.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:19.655Z,1628954119.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:20.088Z,1628954120.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:20.461Z,1628954120.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,005D4,183,80,80,B5,FF
2021-08-14T15:15:20.462Z,1628954120.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:20.902Z,1628954120.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151521.41*58

2021-08-14T15:15:20.987Z,1628954120.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.020000 m, bearing: 263.080036 deg, deltaT: 4.527746 s, approachRate: 0.251782 m/s, LOS rate: 1.146245 deg/s, posRepo size: 4
2021-08-14T15:15:23.316Z,1628954123.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:23.694Z,1628954123.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:23.694Z,1628954123.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:23.694Z,1628954123.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:23.695Z,1628954123.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:24.097Z,1628954124.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,005D4,183,80,80,B5,FF
2021-08-14T15:15:24.097Z,1628954124.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:24.097Z,1628954124.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:24.099Z,1628954124.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:24.558Z,1628954124.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:24.909Z,1628954124.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,005EF,183,80,80,AE,FF
2021-08-14T15:15:24.910Z,1628954124.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:25.345Z,1628954125.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151525.85*54

2021-08-14T15:15:25.426Z,1628954125.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 262.818549 deg, deltaT: 4.370368 s, approachRate: 0.370678 m/s, LOS rate: -0.059832 deg/s, posRepo size: 4
2021-08-14T15:15:27.854Z,1628954127.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:28.173Z,1628954128.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:28.173Z,1628954128.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:28.173Z,1628954128.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:28.174Z,1628954128.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:28.601Z,1628954128.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,005EF,183,80,80,AE,FF
2021-08-14T15:15:28.601Z,1628954128.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:28.601Z,1628954128.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:28.603Z,1628954128.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:29.101Z,1628954129.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:29.509Z,1628954129.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,0060A,184,80,80,A5,FF
2021-08-14T15:15:29.510Z,1628954129.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:29.917Z,1628954129.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151530.35*5B

2021-08-14T15:15:29.999Z,1628954129.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 261.671514 deg, deltaT: 4.602997 s, approachRate: 0.351944 m/s, LOS rate: -0.249193 deg/s, posRepo size: 4
2021-08-14T15:15:32.423Z,1628954132.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:32.757Z,1628954132.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:32.757Z,1628954132.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:32.757Z,1628954132.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:32.758Z,1628954132.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:33.153Z,1628954133.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,0060A,184,80,80,A5,FF
2021-08-14T15:15:33.153Z,1628954133.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:33.153Z,1628954133.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:33.155Z,1628954133.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:33.581Z,1628954133.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:33.961Z,1628954133.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00627,183,80,80,AB,FF
2021-08-14T15:15:33.961Z,1628954133.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:34.413Z,1628954134.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151534.91*51

2021-08-14T15:15:34.429Z,1628954134.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.000004 m, bearing: 260.534697 deg, deltaT: 4.423266 s, approachRate: 0.393376 m/s, LOS rate: -0.257008 deg/s, posRepo size: 4
2021-08-14T15:15:36.866Z,1628954136.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:37.202Z,1628954137.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:37.202Z,1628954137.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:37.202Z,1628954137.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:37.203Z,1628954137.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:37.653Z,1628954137.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00627,183,80,80,AB,FF
2021-08-14T15:15:37.653Z,1628954137.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:37.653Z,1628954137.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:37.655Z,1628954137.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:38.030Z,1628954138.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:38.429Z,1628954138.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00645,185,80,80,A0,FF
2021-08-14T15:15:38.429Z,1628954138.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:38.855Z,1628954138.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151539.41*51

2021-08-14T15:15:38.901Z,1628954138.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 264.751793 deg, deltaT: 4.472456 s, approachRate: 0.402462 m/s, LOS rate: 0.942904 deg/s, posRepo size: 4
2021-08-14T15:15:41.262Z,1628954141.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:41.649Z,1628954141.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:41.650Z,1628954141.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:41.650Z,1628954141.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:41.651Z,1628954141.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:42.039Z,1628954142.039 [CTD_Seabird](ERROR): Failed to parse device response: ,6.40,24.3306,4.79854,4786.38
2021-08-14T15:15:42.041Z,1628954142.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00645,185,80,80,A0,FF
2021-08-14T15:15:42.041Z,1628954142.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:42.042Z,1628954142.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:42.043Z,1628954142.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:42.507Z,1628954142.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:42.866Z,1628954142.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0066E,186,80,80,9E,FF
2021-08-14T15:15:42.866Z,1628954142.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:43.305Z,1628954143.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151543.79*57

2021-08-14T15:15:43.348Z,1628954143.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 270.302387 deg, deltaT: 4.445016 s, approachRate: 0.553429 m/s, LOS rate: 1.248723 deg/s, posRepo size: 4
2021-08-14T15:15:45.740Z,1628954145.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:46.103Z,1628954146.103 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:46.103Z,1628954146.103 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:46.103Z,1628954146.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:46.103Z,1628954146.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:46.493Z,1628954146.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0066E,186,80,80,9E,FF
2021-08-14T15:15:46.494Z,1628954146.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:46.494Z,1628954146.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:46.530Z,1628954146.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:46.945Z,1628954146.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:47.305Z,1628954147.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,0069F,185,80,80,8C,FF
2021-08-14T15:15:47.306Z,1628954147.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:47.745Z,1628954147.745 [Micromodem](INFO): Nmea in: $SNTTA,0.056229,,,,151548.29*4D

2021-08-14T15:15:47.761Z,1628954147.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 269.731301 deg, deltaT: 4.450785 s, approachRate: 0.660559 m/s, LOS rate: -0.128311 deg/s, posRepo size: 4
2021-08-14T15:15:50.157Z,1628954150.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:50.593Z,1628954150.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:50.594Z,1628954150.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:50.594Z,1628954150.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:50.595Z,1628954150.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:51.017Z,1628954151.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,0069F,185,80,80,8C,FF
2021-08-14T15:15:51.017Z,1628954151.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:51.017Z,1628954151.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:51.019Z,1628954151.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:51.448Z,1628954151.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:51.817Z,1628954151.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,006C8,183,80,80,64,FF
2021-08-14T15:15:51.818Z,1628954151.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:52.269Z,1628954152.269 [Micromodem](INFO): Nmea in: $SNTTA,0.054239,,,,151552.77*4E

2021-08-14T15:15:52.295Z,1628954152.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.660004 m, bearing: 265.526527 deg, deltaT: 4.484394 s, approachRate: 0.548569 m/s, LOS rate: -0.937646 deg/s, posRepo size: 4
2021-08-14T15:15:54.767Z,1628954154.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:55.060Z,1628954155.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:55.060Z,1628954155.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:55.061Z,1628954155.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:55.061Z,1628954155.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:55.454Z,1628954155.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,006C8,183,80,80,64,FF
2021-08-14T15:15:55.454Z,1628954155.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:55.454Z,1628954155.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:55.458Z,1628954155.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:15:55.878Z,1628954155.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:15:56.263Z,1628954156.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,006F5,186,80,80,77,FF
2021-08-14T15:15:56.263Z,1628954156.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:15:56.690Z,1628954156.690 [Micromodem](INFO): Nmea in: $SNTTA,0.061408,0.426643,,,151557.21*55

2021-08-14T15:15:56.744Z,1628954156.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 271.126053 deg, deltaT: 4.484556 s, approachRate: 0.602066 m/s, LOS rate: 1.248624 deg/s, posRepo size: 4
2021-08-14T15:15:59.091Z,1628954159.091 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:15:59.109Z,1628954159.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:15:59.493Z,1628954159.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:15:59.493Z,1628954159.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:15:59.493Z,1628954159.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:15:59.494Z,1628954159.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:15:59.903Z,1628954159.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,006F5,186,80,80,77,FF
2021-08-14T15:15:59.903Z,1628954159.903 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:15:59.903Z,1628954159.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:15:59.905Z,1628954159.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:00.313Z,1628954160.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:00.717Z,1628954160.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00726,187,80,80,88,FF
2021-08-14T15:16:00.718Z,1628954160.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:00.732Z,1628954160.732 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:16:01.170Z,1628954161.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151601.66*5C

2021-08-14T15:16:01.233Z,1628954161.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 283.271878 deg, deltaT: 4.436105 s, approachRate: 0.662744 m/s, LOS rate: 2.737948 deg/s, posRepo size: 4
2021-08-14T15:16:03.674Z,1628954163.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:04.029Z,1628954164.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:04.029Z,1628954164.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:04.029Z,1628954164.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:04.030Z,1628954164.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:04.445Z,1628954164.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00726,187,80,80,88,FF
2021-08-14T15:16:04.445Z,1628954164.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:04.445Z,1628954164.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:04.481Z,1628954164.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:04.837Z,1628954164.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:05.239Z,1628954165.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,007BB,186,80,80,29,FF
2021-08-14T15:16:05.240Z,1628954165.240 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:05.721Z,1628954165.721 [Micromodem](INFO): Nmea in: $SNTTA,0.060751,,,,151606.23*41

2021-08-14T15:16:05.748Z,1628954165.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 270.386999 deg, deltaT: 4.525531 s, approachRate: 1.975458 m/s, LOS rate: -2.847153 deg/s, posRepo size: 4
2021-08-14T15:16:08.079Z,1628954168.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:08.497Z,1628954168.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:08.498Z,1628954168.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:08.499Z,1628954168.499 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:08.500Z,1628954168.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:08.869Z,1628954168.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,007BB,186,80,80,29,FF
2021-08-14T15:16:08.869Z,1628954168.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:08.869Z,1628954168.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:08.871Z,1628954168.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:09.285Z,1628954169.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:10.128Z,1628954170.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151610.62*58

2021-08-14T15:16:10.966Z,1628954170.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:12.531Z,1628954172.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,29,FF
2021-08-14T15:16:12.536Z,1628954172.536 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,29,FF
2021-08-14T15:16:12.537Z,1628954172.537 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:16:13.478Z,1628954173.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:13.820Z,1628954173.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:13.821Z,1628954173.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:13.821Z,1628954173.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:13.822Z,1628954173.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:14.241Z,1628954174.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,29,FF
2021-08-14T15:16:14.241Z,1628954174.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:14.241Z,1628954174.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:14.243Z,1628954174.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:14.633Z,1628954174.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:15.039Z,1628954175.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,007A2,186,80,80,70,FF
2021-08-14T15:16:15.039Z,1628954175.039 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:15.489Z,1628954175.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151615.99*59

2021-08-14T15:16:15.516Z,1628954175.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.740005 m, bearing: 282.619158 deg, deltaT: 9.747789 s, approachRate: -0.153880 m/s, LOS rate: 1.254865 deg/s, posRepo size: 4
2021-08-14T15:16:17.648Z,1628954177.648 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.257866
2021-08-14T15:16:17.883Z,1628954177.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:18.269Z,1628954178.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:18.269Z,1628954178.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:18.270Z,1628954178.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:18.270Z,1628954178.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:18.674Z,1628954178.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,007A2,186,80,80,70,FF
2021-08-14T15:16:18.674Z,1628954178.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:18.675Z,1628954178.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:18.694Z,1628954178.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:19.087Z,1628954179.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:19.501Z,1628954179.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,007CD,186,80,80,87,FF
2021-08-14T15:16:19.501Z,1628954179.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:19.925Z,1628954179.925 [Micromodem](INFO): Nmea in: $SNTTA,0.066667,,,,151620.45*47

2021-08-14T15:16:19.948Z,1628954179.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 278.305784 deg, deltaT: 4.501522 s, approachRate: 0.573138 m/s, LOS rate: -0.958203 deg/s, posRepo size: 4
2021-08-14T15:16:22.374Z,1628954182.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:22.725Z,1628954182.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:22.725Z,1628954182.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:22.725Z,1628954182.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:22.726Z,1628954182.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:23.122Z,1628954183.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,007CD,186,80,80,87,FF
2021-08-14T15:16:23.122Z,1628954183.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:23.122Z,1628954183.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:23.125Z,1628954183.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:23.589Z,1628954183.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:24.001Z,1628954184.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,007FE,187,80,80,71,FF
2021-08-14T15:16:24.001Z,1628954184.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:24.416Z,1628954184.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151624.88*5B

2021-08-14T15:16:24.467Z,1628954184.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 272.593205 deg, deltaT: 4.480928 s, approachRate: 0.656115 m/s, LOS rate: -1.274865 deg/s, posRepo size: 4
2021-08-14T15:16:25.437Z,1628954185.437 [Radio_Surface](INFO): Powering down
2021-08-14T15:16:26.570Z,1628954186.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:26.869Z,1628954186.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:26.869Z,1628954186.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:26.869Z,1628954186.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:26.870Z,1628954186.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:27.293Z,1628954187.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,007FE,187,80,80,71,FF
2021-08-14T15:16:27.293Z,1628954187.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:27.293Z,1628954187.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:27.295Z,1628954187.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:27.683Z,1628954187.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:28.093Z,1628954188.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,080,000,00822,186,80,80,5E,FF
2021-08-14T15:16:28.093Z,1628954188.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:28.524Z,1628954188.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151629.05*53

2021-08-14T15:16:28.615Z,1628954188.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.419998 m, bearing: 257.767678 deg, deltaT: 4.072627 s, approachRate: 0.530369 m/s, LOS rate: -3.640286 deg/s, posRepo size: 4
2021-08-14T15:16:29.729Z,1628954189.729 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:16:30.933Z,1628954190.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:31.341Z,1628954191.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:31.341Z,1628954191.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:31.341Z,1628954191.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:31.342Z,1628954191.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:31.721Z,1628954191.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
080,000,00822,186,80,80,5E,FF
2021-08-14T15:16:31.721Z,1628954191.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:31.721Z,1628954191.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:31.723Z,1628954191.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:32.134Z,1628954192.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:32.555Z,1628954192.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00854,187,80,80,6A,FF
2021-08-14T15:16:32.556Z,1628954192.556 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:32.985Z,1628954192.985 [Micromodem](INFO): Nmea in: $SNTTA,0.334546,0.334421,,,151633.48*51

2021-08-14T15:16:33.005Z,1628954193.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.420006 m, bearing: 270.311649 deg, deltaT: 4.642168 s, approachRate: 0.646251 m/s, LOS rate: 2.702179 deg/s, posRepo size: 4
2021-08-14T15:16:33.253Z,1628954193.253 [CTD_Seabird](ERROR): Failed to parse device response: .69
2021-08-14T15:16:35.468Z,1628954195.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:35.821Z,1628954195.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:35.821Z,1628954195.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:35.821Z,1628954195.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:35.822Z,1628954195.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:36.229Z,1628954196.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,00854,187,80,80,6A,FF
2021-08-14T15:16:36.229Z,1628954196.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:36.229Z,1628954196.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:36.231Z,1628954196.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:36.629Z,1628954196.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:37.045Z,1628954197.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00889,186,80,80,83,FF
2021-08-14T15:16:37.046Z,1628954197.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:37.497Z,1628954197.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151637.98*58

2021-08-14T15:16:37.552Z,1628954197.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.599998 m, bearing: 270.754682 deg, deltaT: 4.334062 s, approachRate: 0.733721 m/s, LOS rate: 0.102221 deg/s, posRepo size: 4
2021-08-14T15:16:39.898Z,1628954199.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:40.277Z,1628954200.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:40.277Z,1628954200.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:40.277Z,1628954200.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:40.278Z,1628954200.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:40.715Z,1628954200.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00889,186,80,80,83,FF
2021-08-14T15:16:40.715Z,1628954200.715 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:40.715Z,1628954200.715 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:40.717Z,1628954200.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:41.224Z,1628954201.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:41.622Z,1628954201.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,008B0,186,80,80,94,FF
2021-08-14T15:16:41.622Z,1628954201.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:42.033Z,1628954202.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151642.47*58

2021-08-14T15:16:42.049Z,1628954202.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.940002 m, bearing: 268.884549 deg, deltaT: 4.613703 s, approachRate: 0.507186 m/s, LOS rate: -0.405343 deg/s, posRepo size: 4
2021-08-14T15:16:44.566Z,1628954204.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:44.854Z,1628954204.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:44.854Z,1628954204.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:44.854Z,1628954204.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:44.855Z,1628954204.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:45.265Z,1628954205.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,008B0,186,80,80,94,FF
2021-08-14T15:16:45.265Z,1628954205.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:45.265Z,1628954205.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:45.267Z,1628954205.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:45.744Z,1628954205.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:46.121Z,1628954206.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,008E0,187,80,80,9C,FF
2021-08-14T15:16:46.122Z,1628954206.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:46.565Z,1628954206.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151647.02*5C

2021-08-14T15:16:46.619Z,1628954206.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 271.726181 deg, deltaT: 4.437656 s, approachRate: 0.648991 m/s, LOS rate: 0.640345 deg/s, posRepo size: 4
2021-08-14T15:16:48.674Z,1628954208.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:48.949Z,1628954208.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:48.949Z,1628954208.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:48.949Z,1628954208.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:48.950Z,1628954208.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:49.357Z,1628954209.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,008E0,187,80,80,9C,FF
2021-08-14T15:16:49.357Z,1628954209.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:49.358Z,1628954209.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:49.359Z,1628954209.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:49.764Z,1628954209.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:50.157Z,1628954210.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,00907,186,80,80,8D,FF
2021-08-14T15:16:50.158Z,1628954210.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:50.618Z,1628954210.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151651.11*59

2021-08-14T15:16:50.701Z,1628954210.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 279.292063 deg, deltaT: 4.036144 s, approachRate: 0.579762 m/s, LOS rate: 1.874532 deg/s, posRepo size: 4
2021-08-14T15:16:52.719Z,1628954212.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:53.014Z,1628954213.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:53.014Z,1628954213.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:53.014Z,1628954213.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:53.015Z,1628954213.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:53.435Z,1628954213.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,00907,186,80,80,8D,FF
2021-08-14T15:16:53.435Z,1628954213.435 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:53.435Z,1628954213.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:53.437Z,1628954213.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:53.788Z,1628954213.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T15:16:53.813Z,1628954213.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:54.233Z,1628954214.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,0093B,186,80,80,8D,FF
2021-08-14T15:16:54.233Z,1628954214.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:54.645Z,1628954214.645 [Micromodem](INFO): Nmea in: $SNTTA,,0.073240,,,151655.19*49

2021-08-14T15:16:54.718Z,1628954214.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.280006 m, bearing: 277.832151 deg, deltaT: 4.108326 s, approachRate: 0.759434 m/s, LOS rate: -0.355354 deg/s, posRepo size: 4
2021-08-14T15:16:54.792Z,1628954214.792 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-14T15:16:57.079Z,1628954217.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:16:57.487Z,1628954217.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:16:57.487Z,1628954217.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:16:57.488Z,1628954217.488 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:16:57.490Z,1628954217.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:16:57.853Z,1628954217.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,0093B,186,80,80,8D,FF
2021-08-14T15:16:57.853Z,1628954217.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:16:57.853Z,1628954217.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:16:57.855Z,1628954217.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:16:58.268Z,1628954218.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:16:58.670Z,1628954218.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,00968,186,80,80,86,FF
2021-08-14T15:16:58.671Z,1628954218.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:16:59.101Z,1628954219.101 [Micromodem](INFO): Nmea in: $SNTTA,,0.272775,,,151659.61*4A

2021-08-14T15:16:59.133Z,1628954219.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 275.931419 deg, deltaT: 4.491569 s, approachRate: 0.601126 m/s, LOS rate: -0.423178 deg/s, posRepo size: 4
2021-08-14T15:17:01.528Z,1628954221.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:01.901Z,1628954221.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:01.901Z,1628954221.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:01.901Z,1628954221.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:01.902Z,1628954221.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:02.301Z,1628954222.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,00968,186,80,80,86,FF
2021-08-14T15:17:02.301Z,1628954222.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:02.301Z,1628954222.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:02.303Z,1628954222.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:02.825Z,1628954222.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:03.213Z,1628954223.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00997,186,80,80,71,FF
2021-08-14T15:17:03.213Z,1628954223.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:03.629Z,1628954223.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151704.05*5D

2021-08-14T15:17:03.668Z,1628954223.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.800003 m, bearing: 270.505489 deg, deltaT: 4.484160 s, approachRate: 0.628880 m/s, LOS rate: -1.210021 deg/s, posRepo size: 4
2021-08-14T15:17:06.070Z,1628954226.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:06.492Z,1628954226.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:06.492Z,1628954226.492 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:06.493Z,1628954226.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:06.494Z,1628954226.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:06.853Z,1628954226.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00997,186,80,80,71,FF
2021-08-14T15:17:06.853Z,1628954226.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:06.853Z,1628954226.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:06.855Z,1628954226.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:07.261Z,1628954227.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:07.694Z,1628954227.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,009CB,186,80,80,9C,FF
2021-08-14T15:17:07.694Z,1628954227.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:08.097Z,1628954228.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151708.61*53

2021-08-14T15:17:08.120Z,1628954228.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 268.224070 deg, deltaT: 4.485278 s, approachRate: 0.695610 m/s, LOS rate: -0.508646 deg/s, posRepo size: 4
2021-08-14T15:17:10.567Z,1628954230.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:10.897Z,1628954230.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:10.897Z,1628954230.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:10.898Z,1628954230.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:10.898Z,1628954230.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:11.305Z,1628954231.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,009CB,186,80,80,9C,FF
2021-08-14T15:17:11.305Z,1628954231.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:11.305Z,1628954231.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:11.307Z,1628954231.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:11.727Z,1628954231.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:12.117Z,1628954232.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,009FE,187,80,80,AB,FF
2021-08-14T15:17:12.117Z,1628954232.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:12.573Z,1628954232.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151713.06*58

2021-08-14T15:17:12.674Z,1628954232.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 267.483950 deg, deltaT: 4.422566 s, approachRate: 0.691905 m/s, LOS rate: -0.167351 deg/s, posRepo size: 4
2021-08-14T15:17:14.979Z,1628954234.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:15.345Z,1628954235.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:15.345Z,1628954235.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:15.345Z,1628954235.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:15.346Z,1628954235.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:15.754Z,1628954235.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,009FE,187,80,80,AB,FF
2021-08-14T15:17:15.754Z,1628954235.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:15.754Z,1628954235.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:15.756Z,1628954235.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:16.152Z,1628954236.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:16.597Z,1628954236.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,00A31,186,80,80,8C,FF
2021-08-14T15:17:16.597Z,1628954236.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:16.997Z,1628954236.997 [Micromodem](INFO): Nmea in: $SNTTA,0.084689,,,,151717.51*4B

2021-08-14T15:17:17.027Z,1628954237.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 267.535368 deg, deltaT: 4.516437 s, approachRate: 0.677525 m/s, LOS rate: 0.011385 deg/s, posRepo size: 4
2021-08-14T15:17:19.470Z,1628954239.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:19.793Z,1628954239.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:19.793Z,1628954239.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:19.793Z,1628954239.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:19.794Z,1628954239.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:20.193Z,1628954240.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,00A31,186,80,80,8C,FF
2021-08-14T15:17:20.193Z,1628954240.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:20.193Z,1628954240.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:20.195Z,1628954240.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:20.605Z,1628954240.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:21.009Z,1628954241.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00A61,187,80,80,A4,FF
2021-08-14T15:17:21.010Z,1628954241.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:21.464Z,1628954241.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151721.95*53

2021-08-14T15:17:21.490Z,1628954241.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.919998 m, bearing: 265.921312 deg, deltaT: 4.343915 s, approachRate: 0.662996 m/s, LOS rate: -0.371567 deg/s, posRepo size: 4
2021-08-14T15:17:23.873Z,1628954243.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:24.237Z,1628954244.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:24.237Z,1628954244.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:24.237Z,1628954244.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:24.238Z,1628954244.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:24.637Z,1628954244.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00A61,187,80,80,A4,FF
2021-08-14T15:17:24.637Z,1628954244.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:24.637Z,1628954244.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:24.639Z,1628954244.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:25.049Z,1628954245.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:25.473Z,1628954245.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00290,186,80,80,72,FF
2021-08-14T15:17:25.473Z,1628954245.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:25.893Z,1628954245.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151726.40*5C

2021-08-14T15:17:25.922Z,1628954245.922 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T15:17:25.922Z,1628954245.922 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:17:25.923Z,1628954245.923 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T15:17:25.923Z,1628954245.923 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:17:25.948Z,1628954245.948 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T15:17:25.948Z,1628954245.948 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 1.860000 m 
2021-08-14T15:17:25.949Z,1628954245.949 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T15:17:25.949Z,1628954245.949 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T15:17:25.949Z,1628954245.949 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T15:17:25.951Z,1628954245.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1.860000 m, bearing: 266.401939 deg, deltaT: 4.514139 s, approachRate: -26.596434 m/s, LOS rate: 0.106471 deg/s, posRepo size: 4
2021-08-14T15:17:26.289Z,1628954246.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:17:26.289Z,1628954246.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:17:26.289Z,1628954246.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:17:26.290Z,1628954246.290 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:17:26.290Z,1628954246.290 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:17:26.290Z,1628954246.290 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:17:26.292Z,1628954246.292 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T151726: (41.552319, -70.708603)
2021-08-14T15:17:26.292Z,1628954246.292 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T15:17:26.292Z,1628954246.292 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T15:17:26.292Z,1628954246.292 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:17:26.292Z,1628954246.292 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T15:17:26.293Z,1628954246.293 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:17:26.293Z,1628954246.293 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T15:17:26.293Z,1628954246.293 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T15:17:26.293Z,1628954246.293 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:17:26.725Z,1628954246.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:17:26.725Z,1628954246.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:17:26.726Z,1628954246.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:17:26.726Z,1628954246.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:17:28.291Z,1628954248.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:28.682Z,1628954248.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:28.682Z,1628954248.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:28.682Z,1628954248.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:28.683Z,1628954248.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:29.089Z,1628954249.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00290,186,80,80,72,FF
2021-08-14T15:17:29.089Z,1628954249.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:29.090Z,1628954249.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:29.091Z,1628954249.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:29.496Z,1628954249.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:29.901Z,1628954249.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00ABB,187,80,80,9F,FF
2021-08-14T15:17:29.901Z,1628954249.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:29.921Z,1628954249.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:17:30.329Z,1628954250.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151730.84*53

2021-08-14T15:17:30.365Z,1628954250.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.320000 m, bearing: 266.595206 deg, deltaT: 4.377482 s, approachRate: 28.660313 m/s, LOS rate: 0.044150 deg/s, posRepo size: 4
2021-08-14T15:17:30.784Z,1628954250.784 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:17:30.785Z,1628954250.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:17:30.785Z,1628954250.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:17:30.785Z,1628954250.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:17:30.785Z,1628954250.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:17:30.785Z,1628954250.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:17:31.147Z,1628954251.147 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:17:31.147Z,1628954251.147 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:17:31.147Z,1628954251.147 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:17:31.148Z,1628954251.148 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:17:32.828Z,1628954252.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:33.125Z,1628954253.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:33.125Z,1628954253.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:33.125Z,1628954253.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:33.126Z,1628954253.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:33.553Z,1628954253.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00ABB,187,80,80,9F,FF
2021-08-14T15:17:33.553Z,1628954253.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:33.553Z,1628954253.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:33.555Z,1628954253.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:33.933Z,1628954253.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:34.770Z,1628954254.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151735.31*58

2021-08-14T15:17:35.605Z,1628954255.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:37.177Z,1628954257.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,9F,FF
2021-08-14T15:17:37.177Z,1628954257.177 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,9F,FF
2021-08-14T15:17:37.178Z,1628954257.178 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:17:38.113Z,1628954258.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:38.373Z,1628954258.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:38.373Z,1628954258.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:38.373Z,1628954258.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:38.374Z,1628954258.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:38.790Z,1628954258.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,9F,FF
2021-08-14T15:17:38.790Z,1628954258.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:38.790Z,1628954258.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:38.792Z,1628954258.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:38.893Z,1628954258.893 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:17:39.184Z,1628954259.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:39.605Z,1628954259.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00B21,186,80,80,9E,FF
2021-08-14T15:17:39.605Z,1628954259.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:40.029Z,1628954260.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151740.55*58

2021-08-14T15:17:40.059Z,1628954260.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.440002 m, bearing: 267.123535 deg, deltaT: 9.740875 s, approachRate: 0.628281 m/s, LOS rate: 0.054238 deg/s, posRepo size: 4
2021-08-14T15:17:42.431Z,1628954262.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:42.833Z,1628954262.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:42.833Z,1628954262.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:42.833Z,1628954262.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:42.834Z,1628954262.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:43.229Z,1628954263.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00B21,186,80,80,9E,FF
2021-08-14T15:17:43.229Z,1628954263.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:43.229Z,1628954263.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:43.231Z,1628954263.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:43.645Z,1628954263.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:44.041Z,1628954264.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00B49,186,80,80,55,FF
2021-08-14T15:17:44.041Z,1628954264.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:44.496Z,1628954264.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151744.99*5C

2021-08-14T15:17:44.595Z,1628954264.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.840012 m, bearing: 267.075150 deg, deltaT: 4.427279 s, approachRate: 0.542096 m/s, LOS rate: -0.010929 deg/s, posRepo size: 4
2021-08-14T15:17:46.957Z,1628954266.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:47.261Z,1628954267.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:47.261Z,1628954267.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:47.261Z,1628954267.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:47.262Z,1628954267.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:47.701Z,1628954267.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00B49,186,80,80,55,FF
2021-08-14T15:17:47.701Z,1628954267.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:47.702Z,1628954267.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:47.703Z,1628954267.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:48.085Z,1628954268.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:48.475Z,1628954268.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00B75,186,80,80,55,FF
2021-08-14T15:17:48.475Z,1628954268.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:48.885Z,1628954268.885 [Micromodem](INFO): Nmea in: $SNTTA,0.346677,0.346921,,,151749.46*5F

2021-08-14T15:17:48.963Z,1628954268.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.480011 m, bearing: 268.417500 deg, deltaT: 4.482492 s, approachRate: 0.588958 m/s, LOS rate: 0.299465 deg/s, posRepo size: 4
2021-08-14T15:17:51.323Z,1628954271.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:51.715Z,1628954271.715 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:51.716Z,1628954271.716 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:51.716Z,1628954271.716 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:51.717Z,1628954271.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:52.109Z,1628954272.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00B75,186,80,80,55,FF
2021-08-14T15:17:52.109Z,1628954272.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:52.109Z,1628954272.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:52.111Z,1628954272.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:52.558Z,1628954272.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:52.925Z,1628954272.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00BA0,186,80,80,65,FF
2021-08-14T15:17:52.925Z,1628954272.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:53.374Z,1628954273.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151753.87*55

2021-08-14T15:17:53.395Z,1628954273.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.059998 m, bearing: 267.587714 deg, deltaT: 4.397178 s, approachRate: 0.586737 m/s, LOS rate: -0.188709 deg/s, posRepo size: 4
2021-08-14T15:17:55.824Z,1628954275.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:17:56.149Z,1628954276.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:17:56.149Z,1628954276.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:17:56.149Z,1628954276.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:17:56.150Z,1628954276.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:17:56.609Z,1628954276.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00BA0,186,80,80,65,FF
2021-08-14T15:17:56.610Z,1628954276.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:17:56.610Z,1628954276.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:17:56.614Z,1628954276.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:17:56.980Z,1628954276.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:17:57.779Z,1628954277.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,00BCC,187,80,80,2A,FF
2021-08-14T15:17:57.781Z,1628954277.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:17:57.788Z,1628954277.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151758.37*55

2021-08-14T15:17:58.247Z,1628954278.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.700012 m, bearing: 242.985428 deg, deltaT: 4.885553 s, approachRate: 0.540372 m/s, LOS rate: -5.035722 deg/s, posRepo size: 4
2021-08-14T15:18:00.724Z,1628954280.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:01.001Z,1628954281.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:01.001Z,1628954281.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:01.001Z,1628954281.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:01.002Z,1628954281.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:01.401Z,1628954281.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
143,000,00BCC,187,80,80,2A,FF
2021-08-14T15:18:01.401Z,1628954281.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:01.401Z,1628954281.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:01.403Z,1628954281.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:01.825Z,1628954281.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:02.214Z,1628954282.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00C02,186,80,80,34,FF
2021-08-14T15:18:02.214Z,1628954282.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:18:02.633Z,1628954282.633 [Micromodem](INFO): Nmea in: $SNTTA,0.454800,0.454438,,,151803.16*50

2021-08-14T15:18:02.739Z,1628954282.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.940002 m, bearing: 267.993728 deg, deltaT: 4.426137 s, approachRate: 0.732013 m/s, LOS rate: 5.650142 deg/s, posRepo size: 4
2021-08-14T15:18:05.079Z,1628954285.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:05.476Z,1628954285.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:05.476Z,1628954285.476 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:05.477Z,1628954285.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:05.478Z,1628954285.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:05.849Z,1628954285.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00C02,186,80,80,34,FF
2021-08-14T15:18:05.849Z,1628954285.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:05.849Z,1628954285.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:05.851Z,1628954285.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:06.265Z,1628954286.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:07.087Z,1628954287.087 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151807.61*53

2021-08-14T15:18:07.883Z,1628954287.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:08.686Z,1628954288.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,06704,186,80,80,33,FF
2021-08-14T15:18:08.687Z,1628954288.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:18:09.113Z,1628954289.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1544.820068 m, bearing: 243.296010 deg, deltaT: 6.536289 s, approachRate: 213.864487 m/s, LOS rate: -3.778554 deg/s, posRepo size: 4
2021-08-14T15:18:09.114Z,1628954289.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1544.82 m. Resuming terminal guidance.
2021-08-14T15:18:09.114Z,1628954289.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:18:11.529Z,1628954291.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:11.913Z,1628954291.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:11.914Z,1628954291.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:11.914Z,1628954291.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:11.915Z,1628954291.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:12.309Z,1628954292.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
145,000,06704,186,80,80,33,FF
2021-08-14T15:18:12.309Z,1628954292.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:12.309Z,1628954292.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:12.311Z,1628954292.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:12.760Z,1628954292.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:13.550Z,1628954293.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151814.07*51

2021-08-14T15:18:14.355Z,1628954294.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:15.945Z,1628954295.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,33,FF
2021-08-14T15:18:15.946Z,1628954295.946 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,33,FF
2021-08-14T15:18:15.946Z,1628954295.946 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:18:17.179Z,1628954297.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:17.561Z,1628954297.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:17.561Z,1628954297.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:17.561Z,1628954297.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:17.562Z,1628954297.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:17.965Z,1628954297.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,33,FF
2021-08-14T15:18:17.965Z,1628954297.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:17.965Z,1628954297.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:17.967Z,1628954297.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:18.385Z,1628954298.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:18.786Z,1628954298.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00CAA,187,80,80,5A,FF
2021-08-14T15:18:18.786Z,1628954298.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:18:19.225Z,1628954299.225 [Micromodem](INFO): Nmea in: $SNTTA,0.214904,,,,151819.72*4A

2021-08-14T15:18:19.247Z,1628954299.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.019989 m, bearing: 249.479189 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:18:19.248Z,1628954299.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 249.479189deg and heading rate command to 0 deg/s.
2021-08-14T15:18:21.641Z,1628954301.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:22.005Z,1628954302.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:22.005Z,1628954302.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:22.005Z,1628954302.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:22.006Z,1628954302.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:22.422Z,1628954302.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00CAA,187,80,80,5A,FF
2021-08-14T15:18:22.422Z,1628954302.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:22.423Z,1628954302.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:22.430Z,1628954302.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:22.812Z,1628954302.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:23.633Z,1628954303.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151824.18*5C

2021-08-14T15:18:24.483Z,1628954304.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:26.045Z,1628954306.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:26.045Z,1628954306.045 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:26.045Z,1628954306.045 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:18:27.285Z,1628954307.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:27.661Z,1628954307.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:27.661Z,1628954307.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:27.661Z,1628954307.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:27.662Z,1628954307.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:28.065Z,1628954308.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:28.065Z,1628954308.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:28.065Z,1628954308.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:28.067Z,1628954308.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:28.498Z,1628954308.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:29.302Z,1628954309.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151829.82*52

2021-08-14T15:18:30.127Z,1628954310.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:31.709Z,1628954311.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:31.709Z,1628954311.709 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:31.709Z,1628954311.709 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:18:32.950Z,1628954312.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:33.321Z,1628954313.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:33.321Z,1628954313.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:33.321Z,1628954313.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:33.322Z,1628954313.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:33.738Z,1628954313.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:33.738Z,1628954313.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:33.738Z,1628954313.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:33.739Z,1628954313.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:34.128Z,1628954314.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:34.954Z,1628954314.954 [Micromodem](INFO): Nmea in: $SNTTA,0.328412,,,,151835.50*40

2021-08-14T15:18:35.793Z,1628954315.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:37.354Z,1628954317.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:37.354Z,1628954317.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:37.354Z,1628954317.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:18:38.657Z,1628954318.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:38.977Z,1628954318.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:38.977Z,1628954318.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:38.978Z,1628954318.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:38.978Z,1628954318.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:39.381Z,1628954319.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:39.381Z,1628954319.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:39.381Z,1628954319.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:39.383Z,1628954319.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:39.798Z,1628954319.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:40.626Z,1628954320.626 [Micromodem](INFO): Nmea in: $SNTTA,0.112415,,,,151841.14*4F

2021-08-14T15:18:41.482Z,1628954321.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:43.021Z,1628954323.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:43.022Z,1628954323.022 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:43.022Z,1628954323.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:18:44.255Z,1628954324.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:44.633Z,1628954324.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:44.633Z,1628954324.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:44.633Z,1628954324.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:44.634Z,1628954324.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:45.037Z,1628954325.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,5A,FF
2021-08-14T15:18:45.037Z,1628954325.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:45.037Z,1628954325.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:45.039Z,1628954325.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:45.476Z,1628954325.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:45.863Z,1628954325.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00DCA,182,80,80,5A,FF
2021-08-14T15:18:45.864Z,1628954325.864 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:18:46.293Z,1628954326.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151846.79*5F

2021-08-14T15:18:46.315Z,1628954326.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.300018 m, bearing: 251.271841 deg, deltaT: 27.045127 s, approachRate: 0.638933 m/s, LOS rate: 0.066284 deg/s, posRepo size: 2
2021-08-14T15:18:46.318Z,1628954326.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.300018 m,
      bearing: 251.271841 deg,
      approachRate: 0.638933 m/s,
      LOS rate: 0.066284 deg/s,
      cmd update: 0.198851 deg/s,
      cmd heading: 249.479189 deg,
      new cmd heading: 249.479189 deg.

2021-08-14T15:18:48.724Z,1628954328.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:49.077Z,1628954329.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:49.077Z,1628954329.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:49.077Z,1628954329.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:49.078Z,1628954329.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:49.489Z,1628954329.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00DCA,182,80,80,5A,FF
2021-08-14T15:18:49.490Z,1628954329.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:49.490Z,1628954329.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:49.491Z,1628954329.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:49.893Z,1628954329.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:50.726Z,1628954330.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151851.24*51

2021-08-14T15:18:51.597Z,1628954331.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:53.125Z,1628954333.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,182,80,80,5A,FF
2021-08-14T15:18:53.125Z,1628954333.125 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,182,80,80,5A,FF
2021-08-14T15:18:53.125Z,1628954333.125 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:18:54.350Z,1628954334.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:54.741Z,1628954334.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:18:54.741Z,1628954334.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:18:54.741Z,1628954334.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:18:54.742Z,1628954334.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:18:55.137Z,1628954335.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,182,80,80,5A,FF
2021-08-14T15:18:55.137Z,1628954335.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:18:55.137Z,1628954335.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:18:55.139Z,1628954335.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:18:55.581Z,1628954335.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:18:55.949Z,1628954335.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10,80,63,E4
A,182,80,80,5A,FF
2021-08-14T15:18:55.950Z,1628954335.950 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,10,80,63,E4
A,182,80,80,5A,FF
2021-08-14T15:18:56.386Z,1628954336.386 [Micromodem](INFO): Nmea in: $SNTTA,0.123133,,,,151856.89*4E

2021-08-14T15:18:57.183Z,1628954337.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:18:59.698Z,1628954339.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:00.812Z,1628954340.812 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069977
2021-08-14T15:19:02.468Z,1628954342.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:02.813Z,1628954342.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:02.813Z,1628954342.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:02.813Z,1628954342.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:02.814Z,1628954342.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:03.230Z,1628954343.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10,80,63,E4
A,182,80,80,5A,FF
2021-08-14T15:19:03.230Z,1628954343.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:03.230Z,1628954343.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:03.232Z,1628954343.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:03.632Z,1628954343.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:04.477Z,1628954344.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00E96,186,80,80,80,FF
2021-08-14T15:19:04.477Z,1628954344.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:04.480Z,1628954344.480 [Micromodem](INFO): Nmea in: $SNTTA,,0.097186,,,151904.98*48

2021-08-14T15:19:04.907Z,1628954344.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.540009 m, bearing: 250.344137 deg, deltaT: 18.581718 s, approachRate: 0.658711 m/s, LOS rate: -0.049926 deg/s, posRepo size: 3
2021-08-14T15:19:04.910Z,1628954344.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.540009 m,
      bearing: 250.344137 deg,
      approachRate: 0.658711 m/s,
      LOS rate: -0.049926 deg/s,
      cmd update: -0.149777 deg/s,
      cmd heading: 253.178235 deg,
      new cmd heading: 253.257934 deg.

2021-08-14T15:19:07.294Z,1628954347.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:07.661Z,1628954347.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:07.661Z,1628954347.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:07.661Z,1628954347.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:07.662Z,1628954347.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:08.085Z,1628954348.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00E96,186,80,80,80,FF
2021-08-14T15:19:08.085Z,1628954348.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:08.085Z,1628954348.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:08.087Z,1628954348.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:08.492Z,1628954348.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:09.293Z,1628954349.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00ECD,185,80,80,7D,FF
2021-08-14T15:19:09.293Z,1628954349.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:09.296Z,1628954349.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151909.84*57

2021-08-14T15:19:09.763Z,1628954349.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.839981 m, bearing: 253.476298 deg, deltaT: 4.825737 s, approachRate: 0.683828 m/s, LOS rate: 0.649053 deg/s, posRepo size: 4
2021-08-14T15:19:09.766Z,1628954349.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.839981 m,
      bearing: 253.476298 deg,
      approachRate: 0.683828 m/s,
      LOS rate: 0.649053 deg/s,
      cmd update: 1.947160 deg/s,
      cmd heading: 252.458458 deg,
      new cmd heading: 252.390893 deg.

2021-08-14T15:19:12.158Z,1628954352.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:12.505Z,1628954352.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:12.505Z,1628954352.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:12.505Z,1628954352.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:12.506Z,1628954352.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:12.913Z,1628954352.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00ECD,185,80,80,7D,FF
2021-08-14T15:19:12.914Z,1628954352.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:12.914Z,1628954352.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:12.917Z,1628954352.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:13.323Z,1628954353.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:13.745Z,1628954353.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00ECD,185,80,80,7D,FF
2021-08-14T15:19:13.746Z,1628954353.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:13.751Z,1628954353.751 [Micromodem](INFO): Nmea in: $SNTTA,0.253403,0.253472,,,151914.67*50

2021-08-14T15:19:14.167Z,1628954354.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.839981 m, bearing: 259.676580 deg, deltaT: 4.519018 s, approachRate: 0.000000 m/s, LOS rate: 1.372042 deg/s, posRepo size: 4
2021-08-14T15:19:14.169Z,1628954354.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.839981 m,
      bearing: 259.676580 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.372042 deg/s,
      cmd update: 4.116126 deg/s,
      cmd heading: 261.288850 deg,
      new cmd heading: 261.911906 deg.

2021-08-14T15:19:16.578Z,1628954356.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:17.043Z,1628954357.043 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:17.044Z,1628954357.044 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:17.045Z,1628954357.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:17.047Z,1628954357.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:17.365Z,1628954357.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00ECD,185,80,80,7D,FF
2021-08-14T15:19:17.365Z,1628954357.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:17.365Z,1628954357.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:17.367Z,1628954357.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:17.809Z,1628954357.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:18.596Z,1628954358.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00F36,187,80,80,60,FF
2021-08-14T15:19:18.597Z,1628954358.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:18.600Z,1628954358.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151919.12*59

2021-08-14T15:19:19.027Z,1628954359.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.139999 m, bearing: 278.774280 deg, deltaT: 4.816141 s, approachRate: 1.308105 m/s, LOS rate: 3.965353 deg/s, posRepo size: 4
2021-08-14T15:19:19.030Z,1628954359.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.139999 m,
      bearing: 278.774280 deg,
      approachRate: 1.308105 m/s,
      LOS rate: 3.965353 deg/s,
      cmd update: 11.896060 deg/s,
      cmd heading: 281.091958 deg,
      new cmd heading: 282.609989 deg.

2021-08-14T15:19:21.458Z,1628954361.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:21.797Z,1628954361.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:21.797Z,1628954361.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:21.798Z,1628954361.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:21.799Z,1628954361.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:22.205Z,1628954362.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00F36,187,80,80,60,FF
2021-08-14T15:19:22.206Z,1628954362.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:22.206Z,1628954362.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:22.207Z,1628954362.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:22.613Z,1628954362.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:23.465Z,1628954363.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151923.96*5C

2021-08-14T15:19:24.268Z,1628954364.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:25.841Z,1628954365.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,60,FF
2021-08-14T15:19:25.841Z,1628954365.841 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,60,FF
2021-08-14T15:19:25.841Z,1628954365.841 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:19:27.070Z,1628954367.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:27.477Z,1628954367.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:27.477Z,1628954367.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:27.477Z,1628954367.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:27.478Z,1628954367.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:27.870Z,1628954367.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,60,FF
2021-08-14T15:19:27.870Z,1628954367.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:27.870Z,1628954367.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:27.871Z,1628954367.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:28.272Z,1628954368.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:29.101Z,1628954369.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00FA0,186,80,80,28,FF
2021-08-14T15:19:29.102Z,1628954369.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:29.104Z,1628954369.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151929.62*5D

2021-08-14T15:19:29.594Z,1628954369.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.499985 m, bearing: 317.616309 deg, deltaT: 10.452476 s, approachRate: 0.608467 m/s, LOS rate: 3.716060 deg/s, posRepo size: 4
2021-08-14T15:19:29.600Z,1628954369.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.499985 m,
      bearing: 317.616309 deg,
      approachRate: 0.608467 m/s,
      LOS rate: 3.716060 deg/s,
      cmd update: 11.148180 deg/s,
      cmd heading: 45.540987 deg,
      new cmd heading: 51.182027 deg.

2021-08-14T15:19:31.742Z,1628954371.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:32.069Z,1628954372.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:32.069Z,1628954372.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:32.069Z,1628954372.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:32.070Z,1628954372.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:32.489Z,1628954372.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00FA0,186,80,80,28,FF
2021-08-14T15:19:32.489Z,1628954372.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:32.489Z,1628954372.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:32.491Z,1628954372.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:32.876Z,1628954372.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:33.690Z,1628954373.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAE,000,00FAC,18A,80,80,44,FF
2021-08-14T15:19:33.690Z,1628954373.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:33.697Z,1628954373.697 [Micromodem](INFO): Nmea in: $SNTTA,0.464559,0.463715,,,151934.25*5F

2021-08-14T15:19:34.140Z,1628954374.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.219986 m, bearing: 8.630050 deg, deltaT: 4.679305 s, approachRate: 0.153869 m/s, LOS rate: 10.901992 deg/s, posRepo size: 4
2021-08-14T15:19:34.142Z,1628954374.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.219986 m,
      bearing: 8.630050 deg,
      approachRate: 0.153869 m/s,
      LOS rate: 10.901992 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 97.663244 deg,
      new cmd heading: 101.509768 deg.

2021-08-14T15:19:36.561Z,1628954376.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:36.913Z,1628954376.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:36.913Z,1628954376.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:36.914Z,1628954376.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:36.915Z,1628954376.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:37.329Z,1628954377.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAE,000,00FAC,18A,80,80,44,FF
2021-08-14T15:19:37.329Z,1628954377.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:37.329Z,1628954377.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:37.331Z,1628954377.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:37.732Z,1628954377.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:38.541Z,1628954378.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,00FB6,186,80,80,86,FF
2021-08-14T15:19:38.541Z,1628954378.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:38.544Z,1628954378.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151939.09*51

2021-08-14T15:19:38.973Z,1628954378.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.819992 m, bearing: 14.130227 deg, deltaT: 4.771495 s, approachRate: 0.125748 m/s, LOS rate: 1.152716 deg/s, posRepo size: 4
2021-08-14T15:19:38.975Z,1628954378.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.819992 m,
      bearing: 14.130227 deg,
      approachRate: 0.125748 m/s,
      LOS rate: 1.152716 deg/s,
      cmd update: 3.458147 deg/s,
      cmd heading: 154.970470 deg,
      new cmd heading: 159.790318 deg.

2021-08-14T15:19:41.405Z,1628954381.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:41.749Z,1628954381.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:41.749Z,1628954381.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:41.749Z,1628954381.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:41.750Z,1628954381.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:42.166Z,1628954382.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,00FB6,186,80,80,86,FF
2021-08-14T15:19:42.166Z,1628954382.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:42.166Z,1628954382.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:42.169Z,1628954382.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:42.561Z,1628954382.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:43.425Z,1628954383.425 [Micromodem](INFO): Nmea in: $SNTTA,0.155344,,,,151943.92*42

2021-08-14T15:19:44.207Z,1628954384.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:45.789Z,1628954385.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,86,FF
2021-08-14T15:19:45.789Z,1628954385.789 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,86,FF
2021-08-14T15:19:45.790Z,1628954385.790 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:19:47.054Z,1628954387.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:47.421Z,1628954387.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:47.421Z,1628954387.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:47.422Z,1628954387.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:47.440Z,1628954387.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:47.822Z,1628954387.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,86,FF
2021-08-14T15:19:47.822Z,1628954387.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:47.822Z,1628954387.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:47.826Z,1628954387.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:48.224Z,1628954388.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:49.049Z,1628954389.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2B,000,00F95,189,80,80,69,FF
2021-08-14T15:19:49.049Z,1628954389.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:49.056Z,1628954389.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151949.58*52

2021-08-14T15:19:49.506Z,1628954389.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.839981 m, bearing: 78.507977 deg, deltaT: 10.500832 s, approachRate: -0.188558 m/s, LOS rate: 6.130728 deg/s, posRepo size: 4
2021-08-14T15:19:49.535Z,1628954389.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.839981 m,
      bearing: 78.507977 deg,
      approachRate: -0.188558 m/s,
      LOS rate: 6.130728 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 191.283285 deg,
      new cmd heading: 192.784408 deg.

2021-08-14T15:19:51.920Z,1628954391.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:52.263Z,1628954392.263 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:52.263Z,1628954392.263 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:52.263Z,1628954392.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:52.264Z,1628954392.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:52.677Z,1628954392.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2B,000,00F95,189,80,80,69,FF
2021-08-14T15:19:52.677Z,1628954392.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:52.678Z,1628954392.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:52.681Z,1628954392.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:53.084Z,1628954393.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:53.889Z,1628954393.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4B,000,00F6F,189,80,80,9A,FF
2021-08-14T15:19:53.889Z,1628954393.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:53.892Z,1628954393.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151954.44*53

2021-08-14T15:19:54.333Z,1628954394.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.559998 m, bearing: 84.185565 deg, deltaT: 4.907704 s, approachRate: -0.464572 m/s, LOS rate: 1.156873 deg/s, posRepo size: 4
2021-08-14T15:19:54.341Z,1628954394.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.559998 m,
      bearing: 84.185565 deg,
      approachRate: -0.464572 m/s,
      LOS rate: 1.156873 deg/s,
      cmd update: 3.470618 deg/s,
      cmd heading: 250.129104 deg,
      new cmd heading: 254.162556 deg.

2021-08-14T15:19:56.765Z,1628954396.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:19:57.113Z,1628954397.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:19:57.113Z,1628954397.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:19:57.113Z,1628954397.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:19:57.114Z,1628954397.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:19:57.533Z,1628954397.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4B,000,00F6F,189,80,80,9A,FF
2021-08-14T15:19:57.533Z,1628954397.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:19:57.534Z,1628954397.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:19:57.548Z,1628954397.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:19:57.933Z,1628954397.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:19:58.757Z,1628954398.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,00F42,189,80,80,7F,FF
2021-08-14T15:19:58.758Z,1628954398.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:19:58.761Z,1628954398.761 [Micromodem](INFO): Nmea in: $SNTTA,0.133866,,,,151959.31*4B

2021-08-14T15:19:59.185Z,1628954399.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.860001 m, bearing: 85.033116 deg, deltaT: 4.844281 s, approachRate: -0.557358 m/s, LOS rate: 0.174959 deg/s, posRepo size: 4
2021-08-14T15:19:59.190Z,1628954399.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.860001 m,
      bearing: 85.033116 deg,
      approachRate: -0.557358 m/s,
      LOS rate: 0.174959 deg/s,
      cmd update: 0.524878 deg/s,
      cmd heading: 266.941640 deg,
      new cmd heading: 268.208294 deg.

2021-08-14T15:20:01.717Z,1628954401.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:01.973Z,1628954401.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:01.973Z,1628954401.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:01.973Z,1628954401.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:01.974Z,1628954401.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:02.375Z,1628954402.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,00F42,189,80,80,7F,FF
2021-08-14T15:20:02.375Z,1628954402.375 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:02.375Z,1628954402.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:02.379Z,1628954402.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:02.812Z,1628954402.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:03.625Z,1628954403.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B93,000,00F15,189,80,80,75,FF
2021-08-14T15:20:03.625Z,1628954403.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:03.629Z,1628954403.629 [Micromodem](INFO): Nmea in: $SNTTA,0.131920,,,,152004.14*4F

2021-08-14T15:20:04.035Z,1628954404.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.159988 m, bearing: 86.243398 deg, deltaT: 4.899455 s, approachRate: -0.551084 m/s, LOS rate: 0.247024 deg/s, posRepo size: 4
2021-08-14T15:20:04.037Z,1628954404.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.159988 m,
      bearing: 86.243398 deg,
      approachRate: -0.551084 m/s,
      LOS rate: 0.247024 deg/s,
      cmd update: 0.741072 deg/s,
      cmd heading: 269.515390 deg,
      new cmd heading: 269.679211 deg.

2021-08-14T15:20:06.474Z,1628954406.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:06.829Z,1628954406.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:06.829Z,1628954406.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:06.829Z,1628954406.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:06.830Z,1628954406.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:07.230Z,1628954407.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B93,000,00F15,189,80,80,75,FF
2021-08-14T15:20:07.230Z,1628954407.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:07.230Z,1628954407.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:07.231Z,1628954407.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:07.637Z,1628954407.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:08.473Z,1628954408.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B2E,000,00EF8,18A,80,80,A7,FF
2021-08-14T15:20:08.473Z,1628954408.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:08.477Z,1628954408.477 [Micromodem](INFO): Nmea in: $SNTTA,,0.055360,,,152008.99*4B

2021-08-14T15:20:08.888Z,1628954408.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.419998 m, bearing: 74.129491 deg, deltaT: 4.820293 s, approachRate: -0.360972 m/s, LOS rate: -2.513106 deg/s, posRepo size: 4
2021-08-14T15:20:08.890Z,1628954408.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.419998 m,
      bearing: 74.129491 deg,
      approachRate: -0.360972 m/s,
      LOS rate: -2.513106 deg/s,
      cmd update: -7.539318 deg/s,
      cmd heading: 273.084624 deg,
      new cmd heading: 273.342706 deg.

2021-08-14T15:20:11.292Z,1628954411.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:11.670Z,1628954411.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:11.670Z,1628954411.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:11.670Z,1628954411.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:11.671Z,1628954411.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:12.071Z,1628954412.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B2E,000,00EF8,18A,80,80,A7,FF
2021-08-14T15:20:12.071Z,1628954412.071 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:12.071Z,1628954412.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:12.073Z,1628954412.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:12.484Z,1628954412.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:13.305Z,1628954413.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,00EE7,186,80,80,C9,FF
2021-08-14T15:20:13.306Z,1628954413.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:13.308Z,1628954413.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152013.83*51

2021-08-14T15:20:13.775Z,1628954413.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.399994 m, bearing: 18.956317 deg, deltaT: 4.812212 s, approachRate: -0.211962 m/s, LOS rate: -11.465242 deg/s, posRepo size: 4
2021-08-14T15:20:13.775Z,1628954413.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.465242 deg/s. Setting heading cmd to target bearing of 18.956317deg and heading rate command to 0 deg/s.
2021-08-14T15:20:16.142Z,1628954416.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:16.517Z,1628954416.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:16.517Z,1628954416.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:16.517Z,1628954416.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:16.518Z,1628954416.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:16.925Z,1628954416.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,00EE7,186,80,80,C9,FF
2021-08-14T15:20:16.925Z,1628954416.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:16.925Z,1628954416.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:16.927Z,1628954416.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:17.337Z,1628954417.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:18.153Z,1628954418.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8F,000,00EE6,189,80,80,7A,FF
2021-08-14T15:20:18.153Z,1628954418.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:18.180Z,1628954418.180 [Micromodem](INFO): Nmea in: $SNTTA,0.129937,,,,152018.68*46

2021-08-14T15:20:18.590Z,1628954418.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.339981 m, bearing: 21.323564 deg, deltaT: 4.844448 s, approachRate: -0.012388 m/s, LOS rate: 0.488651 deg/s, posRepo size: 4
2021-08-14T15:20:18.596Z,1628954418.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.339981 m,
      bearing: 21.323564 deg,
      approachRate: -0.012388 m/s,
      LOS rate: 0.488651 deg/s,
      cmd update: 1.465954 deg/s,
      cmd heading: 18.956317 deg,
      new cmd heading: 18.956317 deg.

2021-08-14T15:20:20.975Z,1628954420.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:21.375Z,1628954421.375 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:21.375Z,1628954421.375 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:21.375Z,1628954421.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:21.376Z,1628954421.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:21.765Z,1628954421.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8F,000,00EE6,189,80,80,7A,FF
2021-08-14T15:20:21.765Z,1628954421.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:21.765Z,1628954421.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:21.767Z,1628954421.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:22.173Z,1628954422.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:22.582Z,1628954422.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,00982,186,80,80,85,FF
2021-08-14T15:20:22.582Z,1628954422.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:23.021Z,1628954423.021 [Micromodem](INFO): Nmea in: $SNTTA,0.089529,,,,152023.52*4F

2021-08-14T15:20:23.043Z,1628954423.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.540001 m, bearing: 332.555845 deg, deltaT: 4.409326 s, approachRate: -18.778376 m/s, LOS rate: -11.060133 deg/s, posRepo size: 4
2021-08-14T15:20:23.046Z,1628954423.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.540001 m,
      bearing: 332.555845 deg,
      approachRate: -18.778376 m/s,
      LOS rate: -11.060133 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.420105 deg,
      new cmd heading: 26.056537 deg.

2021-08-14T15:20:25.473Z,1628954425.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:25.817Z,1628954425.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:25.817Z,1628954425.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:25.817Z,1628954425.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:25.818Z,1628954425.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:26.217Z,1628954426.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,00982,186,80,80,85,FF
2021-08-14T15:20:26.217Z,1628954426.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:26.218Z,1628954426.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:26.219Z,1628954426.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:26.619Z,1628954426.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:27.472Z,1628954427.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,00F15,186,80,80,98,FF
2021-08-14T15:20:27.473Z,1628954427.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:27.475Z,1628954427.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152027.97*53

2021-08-14T15:20:27.903Z,1628954427.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.159988 m, bearing: 324.523270 deg, deltaT: 4.896369 s, approachRate: 17.486425 m/s, LOS rate: -1.640517 deg/s, posRepo size: 4
2021-08-14T15:20:27.910Z,1628954427.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.159988 m,
      bearing: 324.523270 deg,
      approachRate: 17.486425 m/s,
      LOS rate: -1.640517 deg/s,
      cmd update: -4.921550 deg/s,
      cmd heading: 326.662919 deg,
      new cmd heading: 321.889523 deg.

2021-08-14T15:20:30.274Z,1628954430.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:30.666Z,1628954430.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:30.666Z,1628954430.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:30.666Z,1628954430.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:30.667Z,1628954430.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:31.061Z,1628954431.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,00F15,186,80,80,98,FF
2021-08-14T15:20:31.061Z,1628954431.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:31.062Z,1628954431.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:31.063Z,1628954431.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:31.261Z,1628954431.261 [CTD_Seabird](ERROR): Failed to parse device response: 4.89.81
2021-08-14T15:20:31.489Z,1628954431.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:32.306Z,1628954432.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00F2C,186,80,80,8D,FF
2021-08-14T15:20:32.306Z,1628954432.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:32.309Z,1628954432.309 [Micromodem](INFO): Nmea in: $SNTTA,0.129951,,,,152032.82*4A

2021-08-14T15:20:32.722Z,1628954432.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.539993 m, bearing: 329.769019 deg, deltaT: 4.819025 s, approachRate: 0.286366 m/s, LOS rate: 1.088550 deg/s, posRepo size: 4
2021-08-14T15:20:32.725Z,1628954432.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.539993 m,
      bearing: 329.769019 deg,
      approachRate: 0.286366 m/s,
      LOS rate: 1.088550 deg/s,
      cmd update: 3.265650 deg/s,
      cmd heading: 302.946661 deg,
      new cmd heading: 300.987958 deg.

2021-08-14T15:20:35.129Z,1628954435.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:35.503Z,1628954435.503 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:35.503Z,1628954435.503 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:35.503Z,1628954435.503 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:35.504Z,1628954435.504 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:35.917Z,1628954435.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00F2C,186,80,80,8D,FF
2021-08-14T15:20:35.917Z,1628954435.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:35.917Z,1628954435.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:35.919Z,1628954435.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:36.318Z,1628954436.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:37.145Z,1628954437.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,00F40,187,80,80,AD,FF
2021-08-14T15:20:37.146Z,1628954437.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:37.149Z,1628954437.149 [Micromodem](INFO): Nmea in: $SNTTA,0.133578,,,,152037.68*47

2021-08-14T15:20:37.609Z,1628954437.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.739990 m, bearing: 347.829842 deg, deltaT: 4.839531 s, approachRate: 0.247957 m/s, LOS rate: 3.731937 deg/s, posRepo size: 4
2021-08-14T15:20:37.611Z,1628954437.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.739990 m,
      bearing: 347.829842 deg,
      approachRate: 0.247957 m/s,
      LOS rate: 3.731937 deg/s,
      cmd update: 11.195810 deg/s,
      cmd heading: 318.751550 deg,
      new cmd heading: 320.177434 deg.

2021-08-14T15:20:39.969Z,1628954439.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:40.358Z,1628954440.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:40.358Z,1628954440.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:40.359Z,1628954440.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:40.360Z,1628954440.360 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:40.829Z,1628954440.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,00F40,187,80,80,AD,FF
2021-08-14T15:20:40.829Z,1628954440.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:40.829Z,1628954440.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:40.831Z,1628954440.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:41.166Z,1628954441.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:41.641Z,1628954441.641 [Micromodem](INFO): Nmea in: $SNTTA,0.131764,0.297501,,,152042.59*5C

2021-08-14T15:20:41.983Z,1628954441.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00F5A,186,80,80,9B,FF
2021-08-14T15:20:41.983Z,1628954441.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:42.437Z,1628954442.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.299988 m, bearing: 335.439223 deg, deltaT: 4.836702 s, approachRate: 0.322533 m/s, LOS rate: -2.561791 deg/s, posRepo size: 4
2021-08-14T15:20:42.439Z,1628954442.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.299988 m,
      bearing: 335.439223 deg,
      approachRate: 0.322533 m/s,
      LOS rate: -2.561791 deg/s,
      cmd update: -7.685373 deg/s,
      cmd heading: 12.900994 deg,
      new cmd heading: 17.778225 deg.

2021-08-14T15:20:44.834Z,1628954444.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:45.209Z,1628954445.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:45.209Z,1628954445.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:45.210Z,1628954445.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:45.211Z,1628954445.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:45.632Z,1628954445.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00F5A,186,80,80,9B,FF
2021-08-14T15:20:45.633Z,1628954445.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:45.633Z,1628954445.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:45.634Z,1628954445.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:46.041Z,1628954446.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:46.845Z,1628954446.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB9,000,00F6D,189,80,80,AD,FF
2021-08-14T15:20:46.846Z,1628954446.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:46.849Z,1628954446.849 [Micromodem](INFO): Nmea in: $SNTTA,0.134982,,,,152047.39*4A

2021-08-14T15:20:47.268Z,1628954447.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.439987 m, bearing: 17.051190 deg, deltaT: 4.939225 s, approachRate: 0.230805 m/s, LOS rate: 8.424796 deg/s, posRepo size: 4
2021-08-14T15:20:47.270Z,1628954447.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.439987 m,
      bearing: 17.051190 deg,
      approachRate: 0.230805 m/s,
      LOS rate: 8.424796 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 334.970595 deg,
      new cmd heading: 332.544369 deg.

2021-08-14T15:20:48.497Z,1628954448.497 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T15:20:49.733Z,1628954449.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:50.065Z,1628954450.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:50.065Z,1628954450.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:50.065Z,1628954450.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:50.066Z,1628954450.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:50.481Z,1628954450.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB9,000,00F6D,189,80,80,AD,FF
2021-08-14T15:20:50.482Z,1628954450.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:50.482Z,1628954450.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:50.483Z,1628954450.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:50.869Z,1628954450.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:51.695Z,1628954451.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,00F76,186,80,80,85,FF
2021-08-14T15:20:51.696Z,1628954451.696 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:51.700Z,1628954451.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152052.24*59

2021-08-14T15:20:52.107Z,1628954452.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.979980 m, bearing: 331.582625 deg, deltaT: 4.847865 s, approachRate: 0.111388 m/s, LOS rate: -9.379089 deg/s, posRepo size: 4
2021-08-14T15:20:52.110Z,1628954452.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.979980 m,
      bearing: 331.582625 deg,
      approachRate: 0.111388 m/s,
      LOS rate: -9.379089 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 33.144293 deg,
      new cmd heading: 37.025981 deg.

2021-08-14T15:20:54.557Z,1628954454.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:54.912Z,1628954454.912 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:54.912Z,1628954454.912 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:54.912Z,1628954454.912 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:54.913Z,1628954454.913 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:20:55.309Z,1628954455.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,00F76,186,80,80,85,FF
2021-08-14T15:20:55.309Z,1628954455.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:20:55.309Z,1628954455.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:20:55.311Z,1628954455.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:20:55.729Z,1628954455.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:20:56.545Z,1628954456.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,00F77,187,80,80,B6,FF
2021-08-14T15:20:56.545Z,1628954456.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:20:56.549Z,1628954456.549 [Micromodem](INFO): Nmea in: $SNTTA,0.055724,,,,152057.07*42

2021-08-14T15:20:56.971Z,1628954456.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.039993 m, bearing: 29.421511 deg, deltaT: 4.786612 s, approachRate: 0.012538 m/s, LOS rate: 12.083470 deg/s, posRepo size: 4
2021-08-14T15:20:56.973Z,1628954456.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.083470 deg/s. Setting heading cmd to target bearing of 29.421511deg and heading rate command to 0 deg/s.
2021-08-14T15:20:59.382Z,1628954459.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:20:59.755Z,1628954459.755 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:20:59.755Z,1628954459.755 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:20:59.755Z,1628954459.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:20:59.756Z,1628954459.756 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:00.161Z,1628954460.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,00F77,187,80,80,B6,FF
2021-08-14T15:21:00.161Z,1628954460.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:00.162Z,1628954460.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:00.163Z,1628954460.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:00.573Z,1628954460.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:01.424Z,1628954461.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCD,000,00F6F,188,80,80,B7,FF
2021-08-14T15:21:01.426Z,1628954461.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:01.434Z,1628954461.434 [Micromodem](INFO): Nmea in: $SNTTA,0.132688,,,,152101.92*4B

2021-08-14T15:21:01.837Z,1628954461.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.559998 m, bearing: 39.100921 deg, deltaT: 4.930473 s, approachRate: -0.097353 m/s, LOS rate: 1.963181 deg/s, posRepo size: 4
2021-08-14T15:21:01.839Z,1628954461.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.559998 m,
      bearing: 39.100921 deg,
      approachRate: -0.097353 m/s,
      LOS rate: 1.963181 deg/s,
      cmd update: 5.889542 deg/s,
      cmd heading: 29.421511 deg,
      new cmd heading: 29.421511 deg.

2021-08-14T15:21:04.226Z,1628954464.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:04.601Z,1628954464.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:04.601Z,1628954464.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:04.601Z,1628954464.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:04.602Z,1628954464.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:05.025Z,1628954465.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCD,000,00F6F,188,80,80,B7,FF
2021-08-14T15:21:05.025Z,1628954465.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:05.025Z,1628954465.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:05.027Z,1628954465.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:05.445Z,1628954465.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:06.229Z,1628954466.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00F65,186,80,80,A4,FF
2021-08-14T15:21:06.230Z,1628954466.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:06.232Z,1628954466.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152106.78*50

2021-08-14T15:21:06.697Z,1628954466.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.959991 m, bearing: 29.066604 deg, deltaT: 4.763065 s, approachRate: -0.125971 m/s, LOS rate: -2.106693 deg/s, posRepo size: 4
2021-08-14T15:21:06.699Z,1628954466.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.959991 m,
      bearing: 29.066604 deg,
      approachRate: -0.125971 m/s,
      LOS rate: -2.106693 deg/s,
      cmd update: -6.320079 deg/s,
      cmd heading: 57.573718 deg,
      new cmd heading: 60.067179 deg.

2021-08-14T15:21:09.086Z,1628954469.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:09.457Z,1628954469.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:09.457Z,1628954469.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:09.457Z,1628954469.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:09.458Z,1628954469.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:09.860Z,1628954469.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00F65,186,80,80,A4,FF
2021-08-14T15:21:09.860Z,1628954469.860 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:09.861Z,1628954469.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:09.890Z,1628954469.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:10.267Z,1628954470.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:11.075Z,1628954471.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00F5B,189,80,80,9A,FF
2021-08-14T15:21:11.075Z,1628954471.075 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:11.083Z,1628954471.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152111.65*5A

2021-08-14T15:21:11.599Z,1628954471.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.360001 m, bearing: 86.868695 deg, deltaT: 4.862492 s, approachRate: -0.123392 m/s, LOS rate: 11.887338 deg/s, posRepo size: 4
2021-08-14T15:21:11.604Z,1628954471.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.887338 deg/s. Setting heading cmd to target bearing of 86.868695deg and heading rate command to 0 deg/s.
2021-08-14T15:21:13.965Z,1628954473.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:14.305Z,1628954474.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:14.305Z,1628954474.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:14.305Z,1628954474.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:14.306Z,1628954474.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:14.723Z,1628954474.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00F5B,189,80,80,9A,FF
2021-08-14T15:21:14.723Z,1628954474.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:14.724Z,1628954474.724 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:14.726Z,1628954474.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:15.110Z,1628954475.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:15.940Z,1628954475.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B3B,000,00F3D,18A,80,80,A3,FF
2021-08-14T15:21:15.941Z,1628954475.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:15.943Z,1628954475.943 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152116.48*52

2021-08-14T15:21:16.382Z,1628954476.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.559982 m, bearing: 96.972792 deg, deltaT: 4.852730 s, approachRate: -0.370929 m/s, LOS rate: 2.082147 deg/s, posRepo size: 4
2021-08-14T15:21:16.383Z,1628954476.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.559982 m,
      bearing: 96.972792 deg,
      approachRate: -0.370929 m/s,
      LOS rate: 2.082147 deg/s,
      cmd update: 6.246441 deg/s,
      cmd heading: 86.868695 deg,
      new cmd heading: 86.868695 deg.

2021-08-14T15:21:18.821Z,1628954478.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:19.155Z,1628954479.155 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:19.155Z,1628954479.155 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:19.155Z,1628954479.155 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:19.156Z,1628954479.156 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:19.625Z,1628954479.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B3B,000,00F3D,18A,80,80,A3,FF
2021-08-14T15:21:19.625Z,1628954479.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:19.625Z,1628954479.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:19.627Z,1628954479.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:20.025Z,1628954480.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:20.453Z,1628954480.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,00F3D,18A,80,80,A3,FF
2021-08-14T15:21:20.454Z,1628954480.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:20.835Z,1628954480.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152121.38*51

2021-08-14T15:21:20.855Z,1628954480.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.559982 m, bearing: 88.359241 deg, deltaT: 4.558682 s, approachRate: 0.000000 m/s, LOS rate: -1.889483 deg/s, posRepo size: 4
2021-08-14T15:21:20.857Z,1628954480.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.559982 m,
      bearing: 88.359241 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.889483 deg/s,
      cmd update: -5.668448 deg/s,
      cmd heading: 115.320764 deg,
      new cmd heading: 117.301829 deg.

2021-08-14T15:21:23.248Z,1628954483.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:23.630Z,1628954483.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:23.630Z,1628954483.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:23.630Z,1628954483.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:23.631Z,1628954483.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:24.037Z,1628954484.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,00F3D,18A,80,80,A3,FF
2021-08-14T15:21:24.037Z,1628954484.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:24.037Z,1628954484.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:24.039Z,1628954484.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:24.494Z,1628954484.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:25.278Z,1628954485.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,00EF7,189,80,80,84,FF
2021-08-14T15:21:25.279Z,1628954485.279 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:25.283Z,1628954485.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152125.80*56

2021-08-14T15:21:25.725Z,1628954485.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.359985 m, bearing: 106.489916 deg, deltaT: 4.763397 s, approachRate: -0.881723 m/s, LOS rate: 3.806249 deg/s, posRepo size: 4
2021-08-14T15:21:25.727Z,1628954485.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.359985 m,
      bearing: 106.489916 deg,
      approachRate: -0.881723 m/s,
      LOS rate: 3.806249 deg/s,
      cmd update: 11.418748 deg/s,
      cmd heading: 88.297044 deg,
      new cmd heading: 85.916517 deg.

2021-08-14T15:21:27.725Z,1628954487.725 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:21:28.098Z,1628954488.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:28.486Z,1628954488.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:28.487Z,1628954488.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:28.487Z,1628954488.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:28.505Z,1628954488.505 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:28.889Z,1628954488.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,00EF7,189,80,80,84,FF
2021-08-14T15:21:28.889Z,1628954488.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:28.889Z,1628954488.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:28.891Z,1628954488.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:29.308Z,1628954489.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:29.713Z,1628954489.713 [Micromodem](INFO): Nmea in: $SNTTA,0.125754,0.224017,,,152130.65*5B

2021-08-14T15:21:30.093Z,1628954490.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00EBF,184,80,80,A1,FF
2021-08-14T15:21:30.094Z,1628954490.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:30.578Z,1628954490.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.999985 m, bearing: 96.754800 deg, deltaT: 4.812836 s, approachRate: -0.698133 m/s, LOS rate: -2.022740 deg/s, posRepo size: 4
2021-08-14T15:21:30.584Z,1628954490.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.999985 m,
      bearing: 96.754800 deg,
      approachRate: -0.698133 m/s,
      LOS rate: -2.022740 deg/s,
      cmd update: -6.068220 deg/s,
      cmd heading: 143.218275 deg,
      new cmd heading: 148.498098 deg.

2021-08-14T15:21:32.963Z,1628954492.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:33.333Z,1628954493.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:33.333Z,1628954493.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:33.333Z,1628954493.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:33.334Z,1628954493.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:33.737Z,1628954493.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00EBF,184,80,80,A1,FF
2021-08-14T15:21:33.737Z,1628954493.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:33.738Z,1628954493.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:33.739Z,1628954493.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:34.145Z,1628954494.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:34.966Z,1628954494.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00E8B,186,80,80,66,FF
2021-08-14T15:21:34.966Z,1628954494.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:34.969Z,1628954494.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152135.50*5A

2021-08-14T15:21:35.434Z,1628954495.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.880005 m, bearing: 92.484518 deg, deltaT: 4.930457 s, approachRate: -0.632797 m/s, LOS rate: -0.866103 deg/s, posRepo size: 4
2021-08-14T15:21:35.441Z,1628954495.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.880005 m,
      bearing: 92.484518 deg,
      approachRate: -0.632797 m/s,
      LOS rate: -0.866103 deg/s,
      cmd update: -2.598308 deg/s,
      cmd heading: 113.331380 deg,
      new cmd heading: 110.944907 deg.

2021-08-14T15:21:37.879Z,1628954497.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:38.181Z,1628954498.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:38.181Z,1628954498.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:38.181Z,1628954498.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:38.182Z,1628954498.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:38.585Z,1628954498.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00E8B,186,80,80,66,FF
2021-08-14T15:21:38.585Z,1628954498.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:38.585Z,1628954498.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:38.587Z,1628954498.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:39.018Z,1628954499.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:39.434Z,1628954499.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,333,000,00E5B,189,80,80,66,FF
2021-08-14T15:21:39.435Z,1628954499.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:39.855Z,1628954499.855 [Micromodem](INFO): Nmea in: $SNTTA,0.124522,,,,152140.34*46

2021-08-14T15:21:39.937Z,1628954499.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.000000 m, bearing: 83.525728 deg, deltaT: 4.416099 s, approachRate: -0.652160 m/s, LOS rate: -2.028666 deg/s, posRepo size: 4
2021-08-14T15:21:39.939Z,1628954499.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 83.525728 deg,
      approachRate: -0.652160 m/s,
      LOS rate: -2.028666 deg/s,
      cmd update: -6.085998 deg/s,
      cmd heading: 101.835914 deg,
      new cmd heading: 100.619860 deg.

2021-08-14T15:21:42.263Z,1628954502.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:42.644Z,1628954502.644 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:42.645Z,1628954502.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:42.645Z,1628954502.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:42.646Z,1628954502.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:43.045Z,1628954503.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
333,000,00E5B,189,80,80,66,FF
2021-08-14T15:21:43.045Z,1628954503.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:43.046Z,1628954503.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:43.047Z,1628954503.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:43.468Z,1628954503.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:43.861Z,1628954503.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00E5B,189,80,80,66,FF
2021-08-14T15:21:43.862Z,1628954503.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:44.285Z,1628954504.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152144.80*51

2021-08-14T15:21:44.307Z,1628954504.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.000000 m, bearing: 87.948699 deg, deltaT: 4.493830 s, approachRate: 0.000000 m/s, LOS rate: 0.984232 deg/s, posRepo size: 4
2021-08-14T15:21:44.310Z,1628954504.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 87.948699 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.984232 deg/s,
      cmd update: 2.952696 deg/s,
      cmd heading: 74.596642 deg,
      new cmd heading: 72.363141 deg.

2021-08-14T15:21:46.745Z,1628954506.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:47.089Z,1628954507.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:47.089Z,1628954507.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:47.090Z,1628954507.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:47.091Z,1628954507.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:47.489Z,1628954507.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00E5B,189,80,80,66,FF
2021-08-14T15:21:47.489Z,1628954507.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:47.489Z,1628954507.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:47.491Z,1628954507.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:47.913Z,1628954507.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:48.306Z,1628954508.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00AA7,184,80,80,AC,FF
2021-08-14T15:21:48.306Z,1628954508.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:48.749Z,1628954508.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152149.25*53

2021-08-14T15:21:48.798Z,1628954508.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.120003 m, bearing: 92.098694 deg, deltaT: 4.368641 s, approachRate: -13.020066 m/s, LOS rate: 0.949951 deg/s, posRepo size: 4
2021-08-14T15:21:48.807Z,1628954508.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.120003 m,
      bearing: 92.098694 deg,
      approachRate: -13.020066 m/s,
      LOS rate: 0.949951 deg/s,
      cmd update: 2.849853 deg/s,
      cmd heading: 87.550228 deg,
      new cmd heading: 88.936684 deg.

2021-08-14T15:21:51.168Z,1628954511.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:51.539Z,1628954511.539 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:51.539Z,1628954511.539 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:51.541Z,1628954511.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:51.543Z,1628954511.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:51.941Z,1628954511.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00AA7,184,80,80,AC,FF
2021-08-14T15:21:51.941Z,1628954511.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:51.941Z,1628954511.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:51.943Z,1628954511.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:52.345Z,1628954512.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:52.750Z,1628954512.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00AA7,184,80,80,AC,FF
2021-08-14T15:21:52.750Z,1628954512.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:53.185Z,1628954513.185 [Micromodem](INFO): Nmea in: $SNTTA,0.118479,,,,152153.70*44

2021-08-14T15:21:53.207Z,1628954513.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.120003 m, bearing: 92.242121 deg, deltaT: 4.477672 s, approachRate: 0.000000 m/s, LOS rate: 0.032032 deg/s, posRepo size: 4
2021-08-14T15:21:53.234Z,1628954513.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.120003 m,
      bearing: 92.242121 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.032032 deg/s,
      cmd update: 0.096095 deg/s,
      cmd heading: 100.252452 deg,
      new cmd heading: 101.457700 deg.

2021-08-14T15:21:55.714Z,1628954515.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:21:55.977Z,1628954515.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:21:55.977Z,1628954515.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:21:55.977Z,1628954515.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:21:55.978Z,1628954515.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:21:56.377Z,1628954516.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00AA7,184,80,80,AC,FF
2021-08-14T15:21:56.377Z,1628954516.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:21:56.378Z,1628954516.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:21:56.379Z,1628954516.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:21:56.796Z,1628954516.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:21:57.186Z,1628954517.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00AA7,184,80,80,AC,FF
2021-08-14T15:21:57.186Z,1628954517.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:21:57.633Z,1628954517.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152158.14*51

2021-08-14T15:21:57.751Z,1628954517.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.120003 m, bearing: 91.414692 deg, deltaT: 4.429817 s, approachRate: 0.000000 m/s, LOS rate: -0.186786 deg/s, posRepo size: 4
2021-08-14T15:21:57.758Z,1628954517.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.120003 m,
      bearing: 91.414692 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.186786 deg/s,
      cmd update: -0.560359 deg/s,
      cmd heading: 100.679698 deg,
      new cmd heading: 100.729598 deg.

2021-08-14T15:22:00.039Z,1628954520.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:00.424Z,1628954520.424 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:00.425Z,1628954520.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:00.426Z,1628954520.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:00.427Z,1628954520.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:00.825Z,1628954520.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00AA7,184,80,80,AC,FF
2021-08-14T15:22:00.825Z,1628954520.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:00.825Z,1628954520.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:00.827Z,1628954520.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:01.229Z,1628954521.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:01.629Z,1628954521.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,00591,186,80,80,A4,FF
2021-08-14T15:22:01.630Z,1628954521.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:02.074Z,1628954522.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152202.58*55

2021-08-14T15:22:02.092Z,1628954522.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 88.502565 deg, deltaT: 4.505187 s, approachRate: -17.340015 m/s, LOS rate: -0.646394 deg/s, posRepo size: 4
2021-08-14T15:22:02.094Z,1628954522.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 88.502565 deg,
      approachRate: -17.340015 m/s,
      LOS rate: -0.646394 deg/s,
      cmd update: -1.939182 deg/s,
      cmd heading: 98.155121 deg,
      new cmd heading: 97.955530 deg.

2021-08-14T15:22:02.522Z,1628954522.522 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T15:22:02.522Z,1628954522.522 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T15:22:02.522Z,1628954522.522 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T15:22:02.522Z,1628954522.522 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:22:02.523Z,1628954522.523 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T15:22:03.129Z,1628954523.129 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B9BD1761270000005D00000400260000000000000000151D80030C5669C08C799877033821AD4793AD58EFD38BA095EF052FC7EB786EBCED73311A00
2021-08-14T15:22:03.129Z,1628954523.129 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T15:22:03.381Z,1628954523.381 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T15:22:03.799Z,1628954523.799 [Micromodem](INFO): Nmea in: $CADRQ,152204,1,10,0,64,1*76

2021-08-14T15:22:03.800Z,1628954523.800 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761270000005D00000400260000000000000000151D80030C5669C08C799877033821AD4793AD58EFD38BA095EF052FC7EB786EBCED73311A00*34

2021-08-14T15:22:04.167Z,1628954524.167 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T15:22:04.566Z,1628954524.566 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T15:22:04.614Z,1628954524.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:04.988Z,1628954524.988 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:04.988Z,1628954524.988 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:04.988Z,1628954524.988 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:04.989Z,1628954524.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:05.381Z,1628954525.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,00591,186,80,80,A4,FF
2021-08-14T15:22:05.381Z,1628954525.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:05.381Z,1628954525.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:05.383Z,1628954525.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:05.802Z,1628954525.802 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T15:22:05.802Z,1628954525.802 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T15:22:06.183Z,1628954526.183 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,152205.575882,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-14T15:22:06.184Z,1628954526.184 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,152205.575882,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-14T15:22:07.767Z,1628954527.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:08.074Z,1628954528.074 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T15:22:08.075Z,1628954528.075 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T125729/Courier0039.lzma.parts
2021-08-14T15:22:08.075Z,1628954528.075 [Micromodem](INFO): Packets left to send: 0
2021-08-14T15:22:08.482Z,1628954528.482 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814152208.612505,06,32767,45,0120,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,15.3,9.03,17,-6.03,-01,-0.91,44,14500,4000*48

2021-08-14T15:22:08.482Z,1628954528.482 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814152208.612505,06,32767,45,0120,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,15.3,9.03,17,-6.03,-01,-0.91,44,14500,4000*48

2021-08-14T15:22:08.727Z,1628954528.727 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T15:22:08.727Z,1628954528.727 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T15:22:08.732Z,1628954528.732 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T15:22:08.732Z,1628954528.732 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:22:08.732Z,1628954528.732 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T15:22:10.342Z,1628954530.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:11.132Z,1628954531.132 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.142718
2021-08-14T15:22:13.184Z,1628954533.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:13.605Z,1628954533.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:13.605Z,1628954533.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:13.605Z,1628954533.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:13.606Z,1628954533.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:13.954Z,1628954533.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,00591,186,80,80,A4,FF
2021-08-14T15:22:13.955Z,1628954533.955 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:13.955Z,1628954533.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:15.690Z,1628954535.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:16.386Z,1628954536.386 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:16.793Z,1628954536.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:17.194Z,1628954537.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00C9A,186,80,80,A4,FF
2021-08-14T15:22:17.194Z,1628954537.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:17.645Z,1628954537.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152218.15*57

2021-08-14T15:22:17.742Z,1628954537.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.060013 m, bearing: 92.779896 deg, deltaT: 15.522952 s, approachRate: 6.961306 m/s, LOS rate: 0.275549 deg/s, posRepo size: 4
2021-08-14T15:22:17.748Z,1628954537.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.060013 m,
      bearing: 92.779896 deg,
      approachRate: 6.961306 m/s,
      LOS rate: 0.275549 deg/s,
      cmd update: 0.826646 deg/s,
      cmd heading: 68.067122 deg,
      new cmd heading: 67.116544 deg.

2021-08-14T15:22:20.056Z,1628954540.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:20.433Z,1628954540.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:20.433Z,1628954540.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:20.433Z,1628954540.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:20.434Z,1628954540.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:20.815Z,1628954540.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00C9A,186,80,80,A4,FF
2021-08-14T15:22:20.815Z,1628954540.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:20.815Z,1628954540.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:20.817Z,1628954540.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:21.233Z,1628954541.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:21.645Z,1628954541.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00C60,187,80,80,93,FF
2021-08-14T15:22:21.645Z,1628954541.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:22.070Z,1628954542.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152222.57*58

2021-08-14T15:22:22.102Z,1628954542.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.580002 m, bearing: 93.829150 deg, deltaT: 4.469967 s, approachRate: -0.778532 m/s, LOS rate: 0.234734 deg/s, posRepo size: 4
2021-08-14T15:22:22.106Z,1628954542.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.580002 m,
      bearing: 93.829150 deg,
      approachRate: -0.778532 m/s,
      LOS rate: 0.234734 deg/s,
      cmd update: 0.704202 deg/s,
      cmd heading: 71.764722 deg,
      new cmd heading: 72.076353 deg.

2021-08-14T15:22:24.521Z,1628954544.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:24.865Z,1628954544.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:24.865Z,1628954544.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:24.865Z,1628954544.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:24.866Z,1628954544.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:25.257Z,1628954545.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00C60,187,80,80,93,FF
2021-08-14T15:22:25.258Z,1628954545.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:25.258Z,1628954545.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:25.260Z,1628954545.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:25.765Z,1628954545.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:26.081Z,1628954546.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,00C2B,186,80,80,A6,FF
2021-08-14T15:22:26.082Z,1628954546.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:26.526Z,1628954546.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.400009 m, bearing: 95.229960 deg, deltaT: 4.365284 s, approachRate: -0.728473 m/s, LOS rate: 0.320898 deg/s, posRepo size: 4
2021-08-14T15:22:26.528Z,1628954546.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.400009 m,
      bearing: 95.229960 deg,
      approachRate: -0.728473 m/s,
      LOS rate: 0.320898 deg/s,
      cmd update: 0.962694 deg/s,
      cmd heading: 74.844587 deg,
      new cmd heading: 75.145568 deg.

2021-08-14T15:22:28.929Z,1628954548.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:29.309Z,1628954549.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:29.309Z,1628954549.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:29.310Z,1628954549.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:29.311Z,1628954549.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:29.713Z,1628954549.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,00C2B,186,80,80,A6,FF
2021-08-14T15:22:29.713Z,1628954549.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:29.713Z,1628954549.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:29.715Z,1628954549.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:30.121Z,1628954550.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:30.533Z,1628954550.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,00BF8,186,80,80,A7,FF
2021-08-14T15:22:30.533Z,1628954550.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:30.961Z,1628954550.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152231.47*5B

2021-08-14T15:22:30.980Z,1628954550.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.340012 m, bearing: 95.080195 deg, deltaT: 4.463513 s, approachRate: -0.685558 m/s, LOS rate: -0.033553 deg/s, posRepo size: 4
2021-08-14T15:22:30.982Z,1628954550.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.340012 m,
      bearing: 95.080195 deg,
      approachRate: -0.685558 m/s,
      LOS rate: -0.033553 deg/s,
      cmd update: -0.100660 deg/s,
      cmd heading: 79.140926 deg,
      new cmd heading: 79.544345 deg.

2021-08-14T15:22:33.360Z,1628954553.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:33.757Z,1628954553.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:33.757Z,1628954553.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:33.757Z,1628954553.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:33.758Z,1628954553.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:34.160Z,1628954554.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,00BF8,186,80,80,A7,FF
2021-08-14T15:22:34.160Z,1628954554.160 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:34.161Z,1628954554.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:34.162Z,1628954554.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:34.561Z,1628954554.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:34.962Z,1628954554.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00BC5,187,80,80,AB,FF
2021-08-14T15:22:34.962Z,1628954554.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:35.409Z,1628954555.409 [Micromodem](INFO): Nmea in: $SNTTA,0.095275,,,,152235.92*45

2021-08-14T15:22:35.449Z,1628954555.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.280014 m, bearing: 94.764674 deg, deltaT: 4.418337 s, approachRate: -0.692568 m/s, LOS rate: -0.071412 deg/s, posRepo size: 4
2021-08-14T15:22:35.451Z,1628954555.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.280014 m,
      bearing: 94.764674 deg,
      approachRate: -0.692568 m/s,
      LOS rate: -0.071412 deg/s,
      cmd update: -0.214235 deg/s,
      cmd heading: 78.696111 deg,
      new cmd heading: 78.648962 deg.

2021-08-14T15:22:37.725Z,1628954557.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:38.041Z,1628954558.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:38.041Z,1628954558.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:38.042Z,1628954558.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:38.042Z,1628954558.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:38.058Z,1628954558.058 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:22:38.437Z,1628954558.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00BC5,187,80,80,AB,FF
2021-08-14T15:22:38.437Z,1628954558.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:38.437Z,1628954558.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:38.439Z,1628954558.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:38.840Z,1628954558.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:39.257Z,1628954559.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00B8E,186,80,80,B6,FF
2021-08-14T15:22:39.258Z,1628954559.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:39.682Z,1628954559.682 [Micromodem](INFO): Nmea in: $SNTTA,0.095867,,,,152240.20*47

2021-08-14T15:22:39.734Z,1628954559.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.980011 m, bearing: 95.460179 deg, deltaT: 4.329469 s, approachRate: -0.762219 m/s, LOS rate: 0.160644 deg/s, posRepo size: 4
2021-08-14T15:22:39.737Z,1628954559.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.980011 m,
      bearing: 95.460179 deg,
      approachRate: -0.762219 m/s,
      LOS rate: 0.160644 deg/s,
      cmd update: 0.481933 deg/s,
      cmd heading: 77.773898 deg,
      new cmd heading: 77.677615 deg.

2021-08-14T15:22:40.465Z,1628954560.465 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T15:22:42.125Z,1628954562.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:42.473Z,1628954562.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:42.473Z,1628954562.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:42.473Z,1628954562.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:42.474Z,1628954562.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:42.884Z,1628954562.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00B8E,186,80,80,B6,FF
2021-08-14T15:22:42.885Z,1628954562.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:42.885Z,1628954562.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:42.887Z,1628954562.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:43.289Z,1628954563.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:43.694Z,1628954563.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00573,187,80,80,8E,FF
2021-08-14T15:22:43.695Z,1628954563.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:44.129Z,1628954564.129 [Micromodem](INFO): Nmea in: $SNTTA,0.104173,,,,152244.65*47

2021-08-14T15:22:44.168Z,1628954564.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 94.851226 deg, deltaT: 4.446005 s, approachRate: -21.093098 m/s, LOS rate: -0.136966 deg/s, posRepo size: 4
2021-08-14T15:22:44.170Z,1628954564.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.199997 m,
      bearing: 94.851226 deg,
      approachRate: -21.093098 m/s,
      LOS rate: -0.136966 deg/s,
      cmd update: -0.410899 deg/s,
      cmd heading: 79.926573 deg,
      new cmd heading: 80.127080 deg.

2021-08-14T15:22:46.539Z,1628954566.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:46.925Z,1628954566.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:46.925Z,1628954566.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:46.925Z,1628954566.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:46.926Z,1628954566.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:47.329Z,1628954567.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00573,187,80,80,8E,FF
2021-08-14T15:22:47.329Z,1628954567.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:47.329Z,1628954567.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:47.331Z,1628954567.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:47.741Z,1628954567.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:48.149Z,1628954568.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00B1F,186,80,80,4D,FF
2021-08-14T15:22:48.149Z,1628954568.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:48.577Z,1628954568.577 [Micromodem](INFO): Nmea in: $SNTTA,0.193592,,,,152249.09*45

2021-08-14T15:22:48.593Z,1628954568.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.320007 m, bearing: 95.162560 deg, deltaT: 4.416127 s, approachRate: 19.727695 m/s, LOS rate: 0.070499 deg/s, posRepo size: 4
2021-08-14T15:22:48.595Z,1628954568.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.320007 m,
      bearing: 95.162560 deg,
      approachRate: 19.727695 m/s,
      LOS rate: 0.070499 deg/s,
      cmd update: 0.211498 deg/s,
      cmd heading: 78.110473 deg,
      new cmd heading: 77.937221 deg.

2021-08-14T15:22:50.991Z,1628954570.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:51.373Z,1628954571.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:51.373Z,1628954571.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:51.373Z,1628954571.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:51.374Z,1628954571.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:51.765Z,1628954571.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,00B1F,186,80,80,4D,FF
2021-08-14T15:22:51.765Z,1628954571.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:51.765Z,1628954571.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:51.767Z,1628954571.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:52.178Z,1628954572.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:52.585Z,1628954572.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,00AE9,186,80,80,A2,FF
2021-08-14T15:22:52.586Z,1628954572.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:53.046Z,1628954573.046 [Micromodem](INFO): Nmea in: $SNTTA,0.093569,,,,152253.52*45

2021-08-14T15:22:53.072Z,1628954573.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.080002 m, bearing: 95.642975 deg, deltaT: 4.430747 s, approachRate: -0.731255 m/s, LOS rate: 0.108428 deg/s, posRepo size: 4
2021-08-14T15:22:53.074Z,1628954573.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.080002 m,
      bearing: 95.642975 deg,
      approachRate: -0.731255 m/s,
      LOS rate: 0.108428 deg/s,
      cmd update: 0.325283 deg/s,
      cmd heading: 79.047598 deg,
      new cmd heading: 79.146844 deg.

2021-08-14T15:22:55.438Z,1628954575.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:22:55.813Z,1628954575.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:22:55.813Z,1628954575.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:22:55.814Z,1628954575.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:22:55.814Z,1628954575.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:22:56.218Z,1628954576.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,00AE9,186,80,80,A2,FF
2021-08-14T15:22:56.219Z,1628954576.219 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:22:56.219Z,1628954576.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:22:56.237Z,1628954576.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:22:56.621Z,1628954576.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:22:57.042Z,1628954577.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00AB1,187,80,80,98,FF
2021-08-14T15:22:57.042Z,1628954577.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:22:57.442Z,1628954577.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152258.00*57

2021-08-14T15:22:57.485Z,1628954577.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.720001 m, bearing: 95.536240 deg, deltaT: 4.463098 s, approachRate: -0.752840 m/s, LOS rate: -0.023915 deg/s, posRepo size: 4
2021-08-14T15:22:57.487Z,1628954577.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.720001 m,
      bearing: 95.536240 deg,
      approachRate: -0.752840 m/s,
      LOS rate: -0.023915 deg/s,
      cmd update: -0.071745 deg/s,
      cmd heading: 80.499407 deg,
      new cmd heading: 80.635656 deg.

2021-08-14T15:22:59.952Z,1628954579.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:00.253Z,1628954580.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:00.253Z,1628954580.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:00.254Z,1628954580.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:00.255Z,1628954580.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:00.690Z,1628954580.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00AB1,187,80,80,98,FF
2021-08-14T15:23:00.690Z,1628954580.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:00.691Z,1628954580.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:00.694Z,1628954580.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:01.081Z,1628954581.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:01.470Z,1628954581.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00A7A,186,80,80,A3,FF
2021-08-14T15:23:01.470Z,1628954581.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:01.898Z,1628954581.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152302.45*58

2021-08-14T15:23:01.995Z,1628954581.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.420006 m, bearing: 95.954309 deg, deltaT: 4.524820 s, approachRate: -0.729310 m/s, LOS rate: 0.092395 deg/s, posRepo size: 4
2021-08-14T15:23:02.013Z,1628954582.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.420006 m,
      bearing: 95.954309 deg,
      approachRate: -0.729310 m/s,
      LOS rate: 0.092395 deg/s,
      cmd update: 0.277184 deg/s,
      cmd heading: 80.175080 deg,
      new cmd heading: 80.145966 deg.

2021-08-14T15:23:04.320Z,1628954584.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:04.706Z,1628954584.706 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:04.706Z,1628954584.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:04.706Z,1628954584.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:04.707Z,1628954584.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:05.093Z,1628954585.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00A7A,186,80,80,A3,FF
2021-08-14T15:23:05.093Z,1628954585.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:05.094Z,1628954585.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:05.095Z,1628954585.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:05.527Z,1628954585.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:05.913Z,1628954585.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00A42,187,80,80,B2,FF
2021-08-14T15:23:05.915Z,1628954585.915 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:05.965Z,1628954585.965 [Micromodem](INFO): Nmea in: $SNTTA,0.162217,0.162348,,,152306.85*5B

2021-08-14T15:23:06.347Z,1628954586.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.059998 m, bearing: 96.342707 deg, deltaT: 4.476865 s, approachRate: -0.750527 m/s, LOS rate: 0.086757 deg/s, posRepo size: 4
2021-08-14T15:23:06.350Z,1628954586.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.059998 m,
      bearing: 96.342707 deg,
      approachRate: -0.750527 m/s,
      LOS rate: 0.086757 deg/s,
      cmd update: 0.260271 deg/s,
      cmd heading: 81.416027 deg,
      new cmd heading: 81.494857 deg.

2021-08-14T15:23:07.989Z,1628954587.989 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T15:23:08.780Z,1628954588.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:09.141Z,1628954589.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:09.141Z,1628954589.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:09.141Z,1628954589.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:09.142Z,1628954589.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:09.569Z,1628954589.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00A42,187,80,80,B2,FF
2021-08-14T15:23:09.569Z,1628954589.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:09.570Z,1628954589.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:09.577Z,1628954589.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:10.015Z,1628954590.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:10.369Z,1628954590.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00A07,186,80,80,B7,FF
2021-08-14T15:23:10.370Z,1628954590.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:10.785Z,1628954590.785 [Micromodem](INFO): Nmea in: $SNTTA,0.079925,,,,152311.34*42

2021-08-14T15:23:10.842Z,1628954590.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.519997 m, bearing: 96.046120 deg, deltaT: 4.319939 s, approachRate: -0.819456 m/s, LOS rate: -0.068655 deg/s, posRepo size: 4
2021-08-14T15:23:10.850Z,1628954590.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.519997 m,
      bearing: 96.046120 deg,
      approachRate: -0.819456 m/s,
      LOS rate: -0.068655 deg/s,
      cmd update: -0.205966 deg/s,
      cmd heading: 82.541477 deg,
      new cmd heading: 82.658535 deg.

2021-08-14T15:23:13.269Z,1628954593.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:13.621Z,1628954593.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:13.621Z,1628954593.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:13.621Z,1628954593.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:13.622Z,1628954593.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:13.997Z,1628954593.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00A07,186,80,80,B7,FF
2021-08-14T15:23:13.997Z,1628954593.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:13.998Z,1628954593.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:13.999Z,1628954593.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:14.397Z,1628954594.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:14.809Z,1628954594.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,009D6,187,80,80,BA,FF
2021-08-14T15:23:14.810Z,1628954594.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:15.263Z,1628954595.263 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152315.76*5E

2021-08-14T15:23:15.318Z,1628954595.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.580009 m, bearing: 95.443363 deg, deltaT: 4.438851 s, approachRate: -0.662331 m/s, LOS rate: -0.135791 deg/s, posRepo size: 4
2021-08-14T15:23:15.324Z,1628954595.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 95.443363 deg,
      approachRate: -0.662331 m/s,
      LOS rate: -0.135791 deg/s,
      cmd update: -0.407374 deg/s,
      cmd heading: 81.627238 deg,
      new cmd heading: 81.526927 deg.

2021-08-14T15:23:17.695Z,1628954597.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:18.037Z,1628954598.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:18.037Z,1628954598.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:18.038Z,1628954598.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:18.039Z,1628954598.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:18.441Z,1628954598.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,009D6,187,80,80,BA,FF
2021-08-14T15:23:18.442Z,1628954598.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:18.442Z,1628954598.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:18.443Z,1628954598.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:18.844Z,1628954598.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:19.256Z,1628954599.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,009A1,186,80,80,B9,FF
2021-08-14T15:23:19.257Z,1628954599.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:19.694Z,1628954599.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152320.20*5B

2021-08-14T15:23:19.761Z,1628954599.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.400002 m, bearing: 95.739335 deg, deltaT: 4.510845 s, approachRate: -0.704969 m/s, LOS rate: 0.065614 deg/s, posRepo size: 4
2021-08-14T15:23:19.771Z,1628954599.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.400002 m,
      bearing: 95.739335 deg,
      approachRate: -0.704969 m/s,
      LOS rate: 0.065614 deg/s,
      cmd update: 0.196841 deg/s,
      cmd heading: 79.792960 deg,
      new cmd heading: 79.619136 deg.

2021-08-14T15:23:22.113Z,1628954602.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:22.481Z,1628954602.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:22.481Z,1628954602.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:22.481Z,1628954602.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:22.482Z,1628954602.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:22.887Z,1628954602.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,009A1,186,80,80,B9,FF
2021-08-14T15:23:22.887Z,1628954602.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:22.887Z,1628954602.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:22.889Z,1628954602.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:23.293Z,1628954603.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:23.694Z,1628954603.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,0096F,187,80,80,90,FF
2021-08-14T15:23:23.694Z,1628954603.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:24.125Z,1628954604.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152324.65*5E

2021-08-14T15:23:24.151Z,1628954604.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.400009 m, bearing: 96.318023 deg, deltaT: 4.419325 s, approachRate: -0.678835 m/s, LOS rate: 0.130945 deg/s, posRepo size: 4
2021-08-14T15:23:24.153Z,1628954604.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.400009 m,
      bearing: 96.318023 deg,
      approachRate: -0.678835 m/s,
      LOS rate: 0.130945 deg/s,
      cmd update: 0.392835 deg/s,
      cmd heading: 80.663634 deg,
      new cmd heading: 80.742148 deg.

2021-08-14T15:23:26.544Z,1628954606.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:26.917Z,1628954606.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:26.917Z,1628954606.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:26.917Z,1628954606.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:26.918Z,1628954606.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:27.321Z,1628954607.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,0096F,187,80,80,90,FF
2021-08-14T15:23:27.321Z,1628954607.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:27.322Z,1628954607.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:27.323Z,1628954607.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:27.737Z,1628954607.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:28.133Z,1628954608.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,0093A,186,80,80,AE,FF
2021-08-14T15:23:28.133Z,1628954608.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:28.577Z,1628954608.577 [Micromodem](INFO): Nmea in: $SNTTA,0.069215,,,,152329.08*4F

2021-08-14T15:23:28.599Z,1628954608.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.220001 m, bearing: 96.684401 deg, deltaT: 4.438655 s, approachRate: -0.716435 m/s, LOS rate: 0.082543 deg/s, posRepo size: 4
2021-08-14T15:23:28.602Z,1628954608.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.220001 m,
      bearing: 96.684401 deg,
      approachRate: -0.716435 m/s,
      LOS rate: 0.082543 deg/s,
      cmd update: 0.247628 deg/s,
      cmd heading: 82.405732 deg,
      new cmd heading: 82.567886 deg.

2021-08-14T15:23:30.980Z,1628954610.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:31.365Z,1628954611.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:31.365Z,1628954611.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:31.365Z,1628954611.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:31.366Z,1628954611.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:31.769Z,1628954611.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,0093A,186,80,80,AE,FF
2021-08-14T15:23:31.769Z,1628954611.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:31.769Z,1628954611.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:31.771Z,1628954611.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:32.172Z,1628954612.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:32.577Z,1628954612.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,008FF,186,80,80,B1,FF
2021-08-14T15:23:32.578Z,1628954612.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:33.049Z,1628954613.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152333.53*5D

2021-08-14T15:23:33.065Z,1628954613.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.680000 m, bearing: 96.865675 deg, deltaT: 4.399813 s, approachRate: -0.804580 m/s, LOS rate: 0.041200 deg/s, posRepo size: 4
2021-08-14T15:23:33.066Z,1628954613.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.680000 m,
      bearing: 96.865675 deg,
      approachRate: -0.804580 m/s,
      LOS rate: 0.041200 deg/s,
      cmd update: 0.123601 deg/s,
      cmd heading: 83.497254 deg,
      new cmd heading: 83.613580 deg.

2021-08-14T15:23:35.435Z,1628954615.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:35.817Z,1628954615.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:35.817Z,1628954615.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:35.817Z,1628954615.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:35.818Z,1628954615.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:36.210Z,1628954616.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,008FF,186,80,80,B1,FF
2021-08-14T15:23:36.210Z,1628954616.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:36.210Z,1628954616.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:36.213Z,1628954616.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:36.621Z,1628954616.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:37.021Z,1628954617.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,008C7,187,80,80,9F,FF
2021-08-14T15:23:37.022Z,1628954617.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:37.465Z,1628954617.465 [Micromodem](INFO): Nmea in: $SNTTA,0.073987,,,,152337.97*4D

2021-08-14T15:23:37.507Z,1628954617.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 96.635060 deg, deltaT: 4.448435 s, approachRate: -0.755322 m/s, LOS rate: -0.051842 deg/s, posRepo size: 4
2021-08-14T15:23:37.514Z,1628954617.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.320000 m,
      bearing: 96.635060 deg,
      approachRate: -0.755322 m/s,
      LOS rate: -0.051842 deg/s,
      cmd update: -0.155525 deg/s,
      cmd heading: 84.046623 deg,
      new cmd heading: 84.104420 deg.

2021-08-14T15:23:39.942Z,1628954619.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:40.257Z,1628954620.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:40.257Z,1628954620.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:40.257Z,1628954620.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:40.258Z,1628954620.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:40.659Z,1628954620.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,008C7,187,80,80,9F,FF
2021-08-14T15:23:40.659Z,1628954620.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:40.660Z,1628954620.660 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:40.663Z,1628954620.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:41.065Z,1628954621.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:41.465Z,1628954621.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,0088D,187,80,80,B2,FF
2021-08-14T15:23:41.466Z,1628954621.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:41.884Z,1628954621.884 [Micromodem](INFO): Nmea in: $SNTTA,0.378851,0.337609,,,152342.42*53

2021-08-14T15:23:41.971Z,1628954621.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.839996 m, bearing: 97.081918 deg, deltaT: 4.517256 s, approachRate: -0.770380 m/s, LOS rate: 0.098923 deg/s, posRepo size: 4
2021-08-14T15:23:41.973Z,1628954621.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.839996 m,
      bearing: 97.081918 deg,
      approachRate: -0.770380 m/s,
      LOS rate: 0.098923 deg/s,
      cmd update: 0.296768 deg/s,
      cmd heading: 83.348982 deg,
      new cmd heading: 83.279570 deg.

2021-08-14T15:23:44.315Z,1628954624.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:44.694Z,1628954624.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:44.694Z,1628954624.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:44.694Z,1628954624.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:44.694Z,1628954624.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:45.097Z,1628954625.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,0088D,187,80,80,B2,FF
2021-08-14T15:23:45.097Z,1628954625.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:45.097Z,1628954625.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:45.099Z,1628954625.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:45.523Z,1628954625.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:45.929Z,1628954625.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,0085A,186,80,80,91,FF
2021-08-14T15:23:45.930Z,1628954625.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:46.349Z,1628954626.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152346.86*57

2021-08-14T15:23:46.372Z,1628954626.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.779999 m, bearing: 97.168757 deg, deltaT: 4.445441 s, approachRate: -0.688345 m/s, LOS rate: 0.019534 deg/s, posRepo size: 4
2021-08-14T15:23:46.374Z,1628954626.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.779999 m,
      bearing: 97.168757 deg,
      approachRate: -0.688345 m/s,
      LOS rate: 0.019534 deg/s,
      cmd update: 0.058603 deg/s,
      cmd heading: 84.678767 deg,
      new cmd heading: 84.787331 deg.

2021-08-14T15:23:48.766Z,1628954628.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:49.156Z,1628954629.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:49.157Z,1628954629.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:49.157Z,1628954629.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:49.158Z,1628954629.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:49.576Z,1628954629.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,0085A,186,80,80,91,FF
2021-08-14T15:23:49.576Z,1628954629.576 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:49.576Z,1628954629.576 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:49.578Z,1628954629.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:49.993Z,1628954629.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:50.377Z,1628954630.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,00823,187,80,80,93,FF
2021-08-14T15:23:50.378Z,1628954630.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:50.821Z,1628954630.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152351.34*58

2021-08-14T15:23:50.856Z,1628954630.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.480003 m, bearing: 97.652642 deg, deltaT: 4.388316 s, approachRate: -0.751996 m/s, LOS rate: 0.110267 deg/s, posRepo size: 4
2021-08-14T15:23:50.858Z,1628954630.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.480003 m,
      bearing: 97.652642 deg,
      approachRate: -0.751996 m/s,
      LOS rate: 0.110267 deg/s,
      cmd update: 0.330800 deg/s,
      cmd heading: 84.935936 deg,
      new cmd heading: 84.963006 deg.

2021-08-14T15:23:53.267Z,1628954633.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:53.617Z,1628954633.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:53.617Z,1628954633.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:53.617Z,1628954633.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:53.618Z,1628954633.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:54.013Z,1628954634.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,00823,187,80,80,93,FF
2021-08-14T15:23:54.013Z,1628954634.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:54.013Z,1628954634.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:54.015Z,1628954634.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:54.425Z,1628954634.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:54.821Z,1628954634.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,007EB,186,80,80,86,FF
2021-08-14T15:23:54.822Z,1628954634.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:55.277Z,1628954635.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152355.77*5B

2021-08-14T15:23:55.326Z,1628954635.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 97.958047 deg, deltaT: 4.444179 s, approachRate: -0.756047 m/s, LOS rate: 0.068720 deg/s, posRepo size: 4
2021-08-14T15:23:55.332Z,1628954635.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.119995 m,
      bearing: 97.958047 deg,
      approachRate: -0.756047 m/s,
      LOS rate: 0.068720 deg/s,
      cmd update: 0.206161 deg/s,
      cmd heading: 86.406073 deg,
      new cmd heading: 86.565706 deg.

2021-08-14T15:23:57.706Z,1628954637.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:23:58.053Z,1628954638.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:23:58.053Z,1628954638.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:23:58.053Z,1628954638.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:23:58.054Z,1628954638.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:23:58.465Z,1628954638.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,007EB,186,80,80,86,FF
2021-08-14T15:23:58.465Z,1628954638.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:23:58.465Z,1628954638.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:23:58.467Z,1628954638.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:23:58.865Z,1628954638.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:23:59.267Z,1628954639.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,007B1,187,80,80,A4,FF
2021-08-14T15:23:59.267Z,1628954639.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:23:59.705Z,1628954639.705 [Micromodem](INFO): Nmea in: $SNTTA,0.058745,,,,152400.22*49

2021-08-14T15:23:59.783Z,1628954639.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 96.472426 deg, deltaT: 4.493865 s, approachRate: -0.774388 m/s, LOS rate: -0.330589 deg/s, posRepo size: 4
2021-08-14T15:23:59.789Z,1628954639.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.639999 m,
      bearing: 96.472426 deg,
      approachRate: -0.774388 m/s,
      LOS rate: -0.330589 deg/s,
      cmd update: -0.991766 deg/s,
      cmd heading: 87.328471 deg,
      new cmd heading: 87.425492 deg.

2021-08-14T15:24:02.149Z,1628954642.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:02.497Z,1628954642.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:02.497Z,1628954642.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:02.497Z,1628954642.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:02.498Z,1628954642.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:02.905Z,1628954642.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,007B1,187,80,80,A4,FF
2021-08-14T15:24:02.906Z,1628954642.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:02.906Z,1628954642.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:02.908Z,1628954642.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:03.316Z,1628954643.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:03.317Z,1628954643.317 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,7D30,2107E320,37BCD1E0,4000,4000,0*6B
 expected 69
2021-08-14T15:24:03.317Z,1628954643.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:03.321Z,1628954643.321 [Micromodem](INFO): Nmea in: $CATXP,40*76

2021-08-14T15:24:03.322Z,1628954643.322 [Micromodem](ERROR): Response from modem unexpected: $CATXP,40*76

2021-08-14T15:24:03.725Z,1628954643.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,0077E,186,80,80,A0,FF
2021-08-14T15:24:03.725Z,1628954643.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:03.728Z,1628954643.728 [Micromodem](INFO): Nmea in: $CATXF,40*60

2021-08-14T15:24:03.728Z,1628954643.728 [Micromodem](ERROR): Response from modem unexpected: $CATXF,40*60

2021-08-14T15:24:03.731Z,1628954643.731 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,152404.670207,3,0,40,4000,14500,1,19829,28005,0,1,0,3,0,14500*62

2021-08-14T15:24:03.752Z,1628954643.752 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,152404.670207,3,0,40,4000,14500,1,19829,28005,0,1,0,3,0,14500*62

2021-08-14T15:24:04.162Z,1628954644.162 [Micromodem](INFO): Nmea in: $CAERR,152405,NI  ,29,Busy completing a previous request*7C

2021-08-14T15:24:04.163Z,1628954644.163 [Micromodem](ERROR): Got error from modem: $CAERR,152405,NI  ,29,Busy completing a previous request*7C

2021-08-14T15:24:04.164Z,1628954644.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152404.67*59

2021-08-14T15:24:04.164Z,1628954644.164 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,152404.67*59

2021-08-14T15:24:04.194Z,1628954644.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 97.976694 deg, deltaT: 4.502853 s, approachRate: -0.679569 m/s, LOS rate: 0.334070 deg/s, posRepo size: 4
2021-08-14T15:24:04.197Z,1628954644.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.580002 m,
      bearing: 97.976694 deg,
      approachRate: -0.679569 m/s,
      LOS rate: 0.334070 deg/s,
      cmd update: 1.002209 deg/s,
      cmd heading: 82.847218 deg,
      new cmd heading: 82.486933 deg.

2021-08-14T15:24:06.590Z,1628954646.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:06.941Z,1628954646.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:06.941Z,1628954646.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:06.941Z,1628954646.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:06.942Z,1628954646.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:07.354Z,1628954647.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0077E,186,80,80,A0,FF
2021-08-14T15:24:07.354Z,1628954647.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:07.354Z,1628954647.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:09.387Z,1628954649.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:12.233Z,1628954652.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:13.016Z,1628954653.016 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073930
2021-08-14T15:24:14.626Z,1628954654.626 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:14.749Z,1628954654.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:15.029Z,1628954655.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:15.029Z,1628954655.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:15.029Z,1628954655.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:15.030Z,1628954655.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:15.056Z,1628954655.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:15.437Z,1628954655.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0077E,186,80,80,A0,FF
2021-08-14T15:24:15.437Z,1628954655.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:15.438Z,1628954655.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:15.444Z,1628954655.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:15.859Z,1628954655.859 [Micromodem](INFO): Nmea in: $CAERR,152417,NI  ,29,Busy completing a previous request*7F

2021-08-14T15:24:15.860Z,1628954655.860 [Micromodem](ERROR): Got error from modem: $CAERR,152417,NI  ,29,Busy completing a previous request*7F

2021-08-14T15:24:15.861Z,1628954655.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152416.38*50

2021-08-14T15:24:15.861Z,1628954655.861 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,152416.38*50

2021-08-14T15:24:17.506Z,1628954657.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:20.299Z,1628954660.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:21.092Z,1628954661.092 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.061874
2021-08-14T15:24:21.902Z,1628954661.902 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:24:23.128Z,1628954663.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:23.522Z,1628954663.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:23.523Z,1628954663.523 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:23.523Z,1628954663.523 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:23.529Z,1628954663.529 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:23.922Z,1628954663.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0077E,186,80,80,A0,FF
2021-08-14T15:24:23.923Z,1628954663.923 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:23.923Z,1628954663.923 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:25.953Z,1628954665.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:26.746Z,1628954666.746 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:27.150Z,1628954667.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:27.581Z,1628954667.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00655,186,80,80,89,FF
2021-08-14T15:24:27.581Z,1628954667.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:28.041Z,1628954668.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152428.50*53

2021-08-14T15:24:28.059Z,1628954668.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.759998 m, bearing: 95.358914 deg, deltaT: 23.816887 s, approachRate: -0.748209 m/s, LOS rate: -0.109913 deg/s, posRepo size: 4
2021-08-14T15:24:28.062Z,1628954668.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.759998 m,
      bearing: 95.358914 deg,
      approachRate: -0.748209 m/s,
      LOS rate: -0.109913 deg/s,
      cmd update: -0.329738 deg/s,
      cmd heading: 106.716806 deg,
      new cmd heading: 107.129283 deg.

2021-08-14T15:24:30.459Z,1628954670.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:30.781Z,1628954670.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:30.781Z,1628954670.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:30.781Z,1628954670.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:30.782Z,1628954670.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:31.191Z,1628954671.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00655,186,80,80,89,FF
2021-08-14T15:24:31.191Z,1628954671.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:31.191Z,1628954671.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:31.194Z,1628954671.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:31.617Z,1628954671.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:31.991Z,1628954671.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,00621,186,80,80,A5,FF
2021-08-14T15:24:31.991Z,1628954671.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:32.455Z,1628954672.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152432.95*51

2021-08-14T15:24:32.495Z,1628954672.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 92.964079 deg, deltaT: 4.401391 s, approachRate: -0.708865 m/s, LOS rate: -0.544109 deg/s, posRepo size: 4
2021-08-14T15:24:32.497Z,1628954672.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.640007 m,
      bearing: 92.964079 deg,
      approachRate: -0.708865 m/s,
      LOS rate: -0.544109 deg/s,
      cmd update: -1.632326 deg/s,
      cmd heading: 105.266876 deg,
      new cmd heading: 105.118616 deg.

2021-08-14T15:24:34.878Z,1628954674.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:35.221Z,1628954675.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:35.221Z,1628954675.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:35.221Z,1628954675.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:35.222Z,1628954675.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:35.625Z,1628954675.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,00621,186,80,80,A5,FF
2021-08-14T15:24:35.625Z,1628954675.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:35.625Z,1628954675.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:35.627Z,1628954675.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:36.047Z,1628954676.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:36.445Z,1628954676.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,005EA,186,80,80,83,FF
2021-08-14T15:24:36.446Z,1628954676.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:36.883Z,1628954676.883 [Micromodem](INFO): Nmea in: $SNTTA,0.035459,,,,152437.39*42

2021-08-14T15:24:36.929Z,1628954676.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.339996 m, bearing: 92.058184 deg, deltaT: 4.470176 s, approachRate: -0.738228 m/s, LOS rate: -0.202653 deg/s, posRepo size: 4
2021-08-14T15:24:36.937Z,1628954676.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.339996 m,
      bearing: 92.058184 deg,
      approachRate: -0.738228 m/s,
      LOS rate: -0.202653 deg/s,
      cmd update: -0.607959 deg/s,
      cmd heading: 97.963303 deg,
      new cmd heading: 97.307635 deg.

2021-08-14T15:24:39.283Z,1628954679.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:39.678Z,1628954679.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:39.678Z,1628954679.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:39.678Z,1628954679.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:39.679Z,1628954679.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:40.069Z,1628954680.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,005EA,186,80,80,83,FF
2021-08-14T15:24:40.069Z,1628954680.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:40.069Z,1628954680.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:40.071Z,1628954680.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:40.494Z,1628954680.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:40.882Z,1628954680.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,005B5,186,80,80,98,FF
2021-08-14T15:24:40.882Z,1628954680.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:41.321Z,1628954681.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152441.83*52

2021-08-14T15:24:41.371Z,1628954681.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 93.506608 deg, deltaT: 4.380185 s, approachRate: -0.725995 m/s, LOS rate: 0.330676 deg/s, posRepo size: 4
2021-08-14T15:24:41.373Z,1628954681.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.160004 m,
      bearing: 93.506608 deg,
      approachRate: -0.725995 m/s,
      LOS rate: 0.330676 deg/s,
      cmd update: 0.992029 deg/s,
      cmd heading: 95.297907 deg,
      new cmd heading: 95.013769 deg.

2021-08-14T15:24:43.801Z,1628954683.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:44.105Z,1628954684.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:44.105Z,1628954684.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:44.105Z,1628954684.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:44.106Z,1628954684.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:44.517Z,1628954684.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,005B5,186,80,80,98,FF
2021-08-14T15:24:44.517Z,1628954684.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:44.517Z,1628954684.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:44.519Z,1628954684.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:44.931Z,1628954684.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:45.317Z,1628954685.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,0057D,185,80,80,5E,FF
2021-08-14T15:24:45.318Z,1628954685.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:45.765Z,1628954685.765 [Micromodem](INFO): Nmea in: $SNTTA,0.046096,,,,152446.28*47

2021-08-14T15:24:45.870Z,1628954685.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 94.250539 deg, deltaT: 4.476028 s, approachRate: -0.750666 m/s, LOS rate: 0.166203 deg/s, posRepo size: 4
2021-08-14T15:24:45.876Z,1628954685.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.800003 m,
      bearing: 94.250539 deg,
      approachRate: -0.750666 m/s,
      LOS rate: 0.166203 deg/s,
      cmd update: 0.498610 deg/s,
      cmd heading: 99.734296 deg,
      new cmd heading: 100.224535 deg.

2021-08-14T15:24:48.171Z,1628954688.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:48.565Z,1628954688.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:48.565Z,1628954688.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:48.566Z,1628954688.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:48.567Z,1628954688.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:48.965Z,1628954688.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,0057D,185,80,80,5E,FF
2021-08-14T15:24:48.965Z,1628954688.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:48.965Z,1628954688.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:48.967Z,1628954688.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:49.387Z,1628954689.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:49.769Z,1628954689.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,00544,186,80,80,72,FF
2021-08-14T15:24:49.769Z,1628954689.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:50.213Z,1628954690.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152450.73*5D

2021-08-14T15:24:50.229Z,1628954690.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 91.627541 deg, deltaT: 4.479443 s, approachRate: -0.763488 m/s, LOS rate: -0.585563 deg/s, posRepo size: 4
2021-08-14T15:24:50.231Z,1628954690.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.380001 m,
      bearing: 91.627541 deg,
      approachRate: -0.763488 m/s,
      LOS rate: -0.585563 deg/s,
      cmd update: -1.756690 deg/s,
      cmd heading: 101.960460 deg,
      new cmd heading: 102.154213 deg.

2021-08-14T15:24:52.633Z,1628954692.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:52.997Z,1628954692.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:52.997Z,1628954692.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:52.997Z,1628954692.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:52.998Z,1628954692.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:53.413Z,1628954693.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,00544,186,80,80,72,FF
2021-08-14T15:24:53.413Z,1628954693.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:53.413Z,1628954693.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:53.421Z,1628954693.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:53.821Z,1628954693.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:54.217Z,1628954694.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,00514,186,80,80,7B,FF
2021-08-14T15:24:54.217Z,1628954694.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:54.645Z,1628954694.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152455.18*55

2021-08-14T15:24:54.699Z,1628954694.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 90.696429 deg, deltaT: 4.403776 s, approachRate: -0.653984 m/s, LOS rate: -0.211435 deg/s, posRepo size: 4
2021-08-14T15:24:54.702Z,1628954694.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.500000 m,
      bearing: 90.696429 deg,
      approachRate: -0.653984 m/s,
      LOS rate: -0.211435 deg/s,
      cmd update: -0.634305 deg/s,
      cmd heading: 94.205627 deg,
      new cmd heading: 93.424575 deg.

2021-08-14T15:24:57.066Z,1628954697.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:24:57.473Z,1628954697.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:24:57.473Z,1628954697.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:24:57.473Z,1628954697.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:24:57.474Z,1628954697.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:24:57.853Z,1628954697.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,00514,186,80,80,7B,FF
2021-08-14T15:24:57.853Z,1628954697.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:24:57.853Z,1628954697.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:24:57.855Z,1628954697.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:24:58.260Z,1628954698.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:24:58.657Z,1628954698.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,004D8,186,80,80,8A,FF
2021-08-14T15:24:58.658Z,1628954698.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:24:59.093Z,1628954699.093 [Micromodem](INFO): Nmea in: $SNTTA,0.044960,,,,152459.61*46

2021-08-14T15:24:59.123Z,1628954699.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.900002 m, bearing: 90.485281 deg, deltaT: 4.462988 s, approachRate: -0.806634 m/s, LOS rate: -0.047311 deg/s, posRepo size: 4
2021-08-14T15:24:59.123Z,1628954699.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.90 m.
2021-08-14T15:24:59.126Z,1628954699.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.900002 m,
      bearing: 90.485281 deg,
      approachRate: -0.806634 m/s,
      LOS rate: -0.047311 deg/s,
      cmd update: -0.141933 deg/s,
      cmd heading: 91.372172 deg,
      new cmd heading: 91.117826 deg.

2021-08-14T15:24:59.558Z,1628954699.558 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:24:59.665Z,1628954699.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:24:59.665Z,1628954699.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:24:59.666Z,1628954699.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:24:59.666Z,1628954699.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:24:59.667Z,1628954699.667 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:24:59.667Z,1628954699.667 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:24:59.933Z,1628954699.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:24:59.933Z,1628954699.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:24:59.933Z,1628954699.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:24:59.934Z,1628954699.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:25:01.606Z,1628954701.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:01.893Z,1628954701.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:01.893Z,1628954701.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:01.893Z,1628954701.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:01.894Z,1628954701.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:02.377Z,1628954702.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,004D8,186,80,80,8A,FF
2021-08-14T15:25:02.377Z,1628954702.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:02.377Z,1628954702.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:02.379Z,1628954702.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:02.713Z,1628954702.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:03.101Z,1628954703.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,004A2,186,80,80,97,FF
2021-08-14T15:25:03.102Z,1628954703.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:03.160Z,1628954703.160 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:03.597Z,1628954703.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.660000 m, bearing: 92.682511 deg, deltaT: 4.431201 s, approachRate: -0.731179 m/s, LOS rate: 0.495854 deg/s, posRepo size: 4
2021-08-14T15:25:03.598Z,1628954703.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.66 m.
2021-08-14T15:25:03.600Z,1628954703.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.660000 m,
      bearing: 92.682511 deg,
      approachRate: -0.731179 m/s,
      LOS rate: 0.495854 deg/s,
      cmd update: 1.487564 deg/s,
      cmd heading: 90.743904 deg,
      new cmd heading: 90.680222 deg.

2021-08-14T15:25:03.925Z,1628954703.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152504.14*5C

2021-08-14T15:25:05.967Z,1628954705.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:06.333Z,1628954706.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:06.333Z,1628954706.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:06.333Z,1628954706.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:06.334Z,1628954706.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:06.741Z,1628954706.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,004A2,186,80,80,97,FF
2021-08-14T15:25:06.741Z,1628954706.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:06.741Z,1628954706.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:06.743Z,1628954706.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:07.148Z,1628954707.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:07.569Z,1628954707.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,0046B,187,80,80,88,FF
2021-08-14T15:25:07.571Z,1628954707.571 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:07.673Z,1628954707.673 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:07.989Z,1628954707.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152508.50*50

2021-08-14T15:25:08.050Z,1628954708.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 92.728042 deg, deltaT: 4.513293 s, approachRate: -0.731174 m/s, LOS rate: 0.010088 deg/s, posRepo size: 4
2021-08-14T15:25:08.050Z,1628954708.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.36 m.
2021-08-14T15:25:08.073Z,1628954708.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.359999 m,
      bearing: 92.728042 deg,
      approachRate: -0.731174 m/s,
      LOS rate: 0.010088 deg/s,
      cmd update: 0.030264 deg/s,
      cmd heading: 97.452204 deg,
      new cmd heading: 98.034956 deg.

2021-08-14T15:25:10.391Z,1628954710.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:10.777Z,1628954710.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:10.777Z,1628954710.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:10.777Z,1628954710.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:10.778Z,1628954710.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:11.189Z,1628954711.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,0046B,187,80,80,88,FF
2021-08-14T15:25:11.189Z,1628954711.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:11.190Z,1628954711.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:11.191Z,1628954711.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:11.612Z,1628954711.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:11.994Z,1628954711.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00437,186,80,80,4C,FF
2021-08-14T15:25:11.994Z,1628954711.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:12.019Z,1628954712.019 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:12.485Z,1628954712.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152512.95*52

2021-08-14T15:25:12.529Z,1628954712.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 89.374193 deg, deltaT: 4.345886 s, approachRate: -0.717921 m/s, LOS rate: -0.771729 deg/s, posRepo size: 4
2021-08-14T15:25:12.529Z,1628954712.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.24 m.
2021-08-14T15:25:12.530Z,1628954712.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.24 m.
2021-08-14T15:25:12.530Z,1628954712.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:25:12.536Z,1628954712.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.239998 m,
      bearing: 89.374193 deg,
      approachRate: -0.717921 m/s,
      LOS rate: -0.771729 deg/s,
      cmd update: -2.315188 deg/s,
      cmd heading: 97.584091 deg,
      new cmd heading: 97.599242 deg.

2021-08-14T15:25:14.850Z,1628954714.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:15.221Z,1628954715.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:15.221Z,1628954715.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:15.221Z,1628954715.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:15.222Z,1628954715.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:15.625Z,1628954715.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00437,186,80,80,4C,FF
2021-08-14T15:25:15.625Z,1628954715.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:15.625Z,1628954715.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:15.627Z,1628954715.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:16.044Z,1628954716.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:16.473Z,1628954716.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00404,186,80,80,89,FF
2021-08-14T15:25:16.473Z,1628954716.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:16.548Z,1628954716.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:16.879Z,1628954716.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152517.39*51

2021-08-14T15:25:16.904Z,1628954716.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 92.844189 deg, deltaT: 4.529345 s, approachRate: -0.675594 m/s, LOS rate: 0.766114 deg/s, posRepo size: 4
2021-08-14T15:25:16.906Z,1628954716.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.180000 m,
      bearing: 92.844189 deg,
      approachRate: -0.675594 m/s,
      LOS rate: 0.766114 deg/s,
      cmd update: 2.298343 deg/s,
      cmd heading: 87.116927 deg,
      new cmd heading: 86.268218 deg.

2021-08-14T15:25:19.300Z,1628954719.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:19.666Z,1628954719.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:19.666Z,1628954719.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:19.666Z,1628954719.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:19.667Z,1628954719.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:20.073Z,1628954720.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00404,186,80,80,89,FF
2021-08-14T15:25:20.073Z,1628954720.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:20.073Z,1628954720.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:20.075Z,1628954720.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:20.505Z,1628954720.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:20.880Z,1628954720.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,003D4,184,80,80,78,FF
2021-08-14T15:25:20.882Z,1628954720.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:20.926Z,1628954720.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:21.333Z,1628954721.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152521.84*52

2021-08-14T15:25:21.356Z,1628954721.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 93.445409 deg, deltaT: 4.377775 s, approachRate: -0.657869 m/s, LOS rate: 0.137335 deg/s, posRepo size: 4
2021-08-14T15:25:21.358Z,1628954721.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 93.445409 deg,
      approachRate: -0.657869 m/s,
      LOS rate: 0.137335 deg/s,
      cmd update: 0.412004 deg/s,
      cmd heading: 97.142576 deg,
      new cmd heading: 98.192864 deg.

2021-08-14T15:25:23.796Z,1628954723.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:24.117Z,1628954724.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:24.117Z,1628954724.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:24.117Z,1628954724.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:24.118Z,1628954724.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:24.533Z,1628954724.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,003D4,184,80,80,78,FF
2021-08-14T15:25:24.533Z,1628954724.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:24.533Z,1628954724.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:24.535Z,1628954724.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:24.925Z,1628954724.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:25.330Z,1628954725.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,0039E,185,80,80,3D,FF
2021-08-14T15:25:25.330Z,1628954725.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:25.351Z,1628954725.351 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:25.831Z,1628954725.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 92.205716 deg, deltaT: 4.424489 s, approachRate: -0.732288 m/s, LOS rate: -0.280189 deg/s, posRepo size: 4
2021-08-14T15:25:25.833Z,1628954725.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 92.205716 deg,
      approachRate: -0.732288 m/s,
      LOS rate: -0.280189 deg/s,
      cmd update: -0.840567 deg/s,
      cmd heading: 98.975398 deg,
      new cmd heading: 99.174507 deg.

2021-08-14T15:25:26.141Z,1628954726.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152526.35*5F

2021-08-14T15:25:28.178Z,1628954728.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:28.553Z,1628954728.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:28.553Z,1628954728.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:28.553Z,1628954728.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:28.554Z,1628954728.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:28.961Z,1628954728.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,0039E,185,80,80,3D,FF
2021-08-14T15:25:28.961Z,1628954728.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:28.961Z,1628954728.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:28.963Z,1628954728.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:29.366Z,1628954729.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:29.765Z,1628954729.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,0036D,185,80,80,A8,FF
2021-08-14T15:25:29.766Z,1628954729.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:29.859Z,1628954729.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:30.195Z,1628954730.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.120001 m, bearing: 89.825109 deg, deltaT: 4.508328 s, approachRate: -0.652126 m/s, LOS rate: -0.528047 deg/s, posRepo size: 4
2021-08-14T15:25:30.198Z,1628954730.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.120001 m,
      bearing: 89.825109 deg,
      approachRate: -0.652126 m/s,
      LOS rate: -0.528047 deg/s,
      cmd update: -1.584140 deg/s,
      cmd heading: 95.189281 deg,
      new cmd heading: 94.900487 deg.

2021-08-14T15:25:32.631Z,1628954732.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:32.993Z,1628954732.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:32.994Z,1628954732.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:32.994Z,1628954732.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:32.995Z,1628954732.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:33.401Z,1628954733.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,0036D,185,80,80,A8,FF
2021-08-14T15:25:33.401Z,1628954733.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:33.401Z,1628954733.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:33.403Z,1628954733.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:33.817Z,1628954733.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:34.213Z,1628954734.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0034C,187,80,80,68,FF
2021-08-14T15:25:34.214Z,1628954734.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:34.233Z,1628954734.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:34.657Z,1628954734.657 [Micromodem](INFO): Nmea in: $SNTTA,0.031793,,,,152535.16*4D

2021-08-14T15:25:34.715Z,1628954734.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 92.192657 deg, deltaT: 4.374486 s, approachRate: -0.452625 m/s, LOS rate: 0.541218 deg/s, posRepo size: 4
2021-08-14T15:25:34.717Z,1628954734.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 92.192657 deg,
      approachRate: -0.452625 m/s,
      LOS rate: 0.541218 deg/s,
      cmd update: 1.623653 deg/s,
      cmd heading: 88.252989 deg,
      new cmd heading: 87.485142 deg.

2021-08-14T15:25:37.079Z,1628954737.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:37.452Z,1628954737.452 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:37.452Z,1628954737.452 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:37.453Z,1628954737.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:37.454Z,1628954737.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:37.845Z,1628954737.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0034C,187,80,80,68,FF
2021-08-14T15:25:37.845Z,1628954737.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:37.846Z,1628954737.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:37.847Z,1628954737.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:38.264Z,1628954738.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:38.657Z,1628954738.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,0030F,184,80,80,A7,FF
2021-08-14T15:25:38.658Z,1628954738.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:38.728Z,1628954738.728 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:39.089Z,1628954739.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152539.61*50

2021-08-14T15:25:39.131Z,1628954739.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 86.911241 deg, deltaT: 4.495069 s, approachRate: -0.814226 m/s, LOS rate: -1.174936 deg/s, posRepo size: 4
2021-08-14T15:25:39.138Z,1628954739.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 86.911241 deg,
      approachRate: -0.814226 m/s,
      LOS rate: -1.174936 deg/s,
      cmd update: -3.524807 deg/s,
      cmd heading: 95.538470 deg,
      new cmd heading: 96.210503 deg.

2021-08-14T15:25:41.607Z,1628954741.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:41.904Z,1628954741.904 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:41.904Z,1628954741.904 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:41.904Z,1628954741.904 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:41.905Z,1628954741.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:42.293Z,1628954742.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,0030F,184,80,80,A7,FF
2021-08-14T15:25:42.293Z,1628954742.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:42.293Z,1628954742.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:42.295Z,1628954742.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:42.717Z,1628954742.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:43.133Z,1628954743.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,002E5,186,80,80,B1,FF
2021-08-14T15:25:43.133Z,1628954743.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:43.153Z,1628954743.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:43.575Z,1628954743.575 [Micromodem](INFO): Nmea in: $SNTTA,0.009560,,,,152544.05*4C

2021-08-14T15:25:43.660Z,1628954743.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 82.310569 deg, deltaT: 4.424975 s, approachRate: -0.569494 m/s, LOS rate: -1.039706 deg/s, posRepo size: 4
2021-08-14T15:25:43.668Z,1628954743.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 82.310569 deg,
      approachRate: -0.569494 m/s,
      LOS rate: -1.039706 deg/s,
      cmd update: -3.119117 deg/s,
      cmd heading: 79.913559 deg,
      new cmd heading: 78.186122 deg.

2021-08-14T15:25:45.995Z,1628954745.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:46.333Z,1628954746.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:46.333Z,1628954746.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:46.333Z,1628954746.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:46.334Z,1628954746.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:46.749Z,1628954746.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,002E5,186,80,80,B1,FF
2021-08-14T15:25:46.749Z,1628954746.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:46.749Z,1628954746.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:46.751Z,1628954746.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:47.149Z,1628954747.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:47.583Z,1628954747.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,002C8,184,80,80,8F,FF
2021-08-14T15:25:47.583Z,1628954747.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:47.700Z,1628954747.700 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:47.974Z,1628954747.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152548.51*55

2021-08-14T15:25:47.991Z,1628954747.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.220001 m, bearing: 87.511546 deg, deltaT: 4.546635 s, approachRate: -0.382700 m/s, LOS rate: 1.143918 deg/s, posRepo size: 4
2021-08-14T15:25:47.993Z,1628954747.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 87.511546 deg,
      approachRate: -0.382700 m/s,
      LOS rate: 1.143918 deg/s,
      cmd update: 3.431754 deg/s,
      cmd heading: 65.761847 deg,
      new cmd heading: 64.815953 deg.

2021-08-14T15:25:50.431Z,1628954750.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:50.786Z,1628954750.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:50.786Z,1628954750.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:50.786Z,1628954750.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:50.787Z,1628954750.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:51.177Z,1628954751.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,002C8,184,80,80,8F,FF
2021-08-14T15:25:51.177Z,1628954751.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:51.177Z,1628954751.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:51.179Z,1628954751.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:51.624Z,1628954751.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:51.985Z,1628954751.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,002C1,184,80,80,A4,FF
2021-08-14T15:25:51.985Z,1628954751.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:52.026Z,1628954752.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:52.452Z,1628954752.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152552.94*57

2021-08-14T15:25:52.493Z,1628954752.493 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T15:25:52.493Z,1628954752.493 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:25:52.494Z,1628954752.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T15:25:52.494Z,1628954752.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:25:52.494Z,1628954752.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T15:25:52.494Z,1628954752.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 
2021-08-14T15:25:52.495Z,1628954752.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T15:25:52.495Z,1628954752.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T15:25:52.495Z,1628954752.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T15:25:52.498Z,1628954752.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 65.156590 deg, deltaT: 4.325906 s, approachRate: -0.097090 m/s, LOS rate: -5.167693 deg/s, posRepo size: 4
2021-08-14T15:25:52.500Z,1628954752.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 65.156590 deg,
      approachRate: -0.097090 m/s,
      LOS rate: -5.167693 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 80.571440 deg,
      new cmd heading: 82.269077 deg.

2021-08-14T15:25:52.830Z,1628954752.830 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T152552: (41.552319, -70.708603)
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T15:25:52.831Z,1628954752.831 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:25:54.883Z,1628954754.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:55.213Z,1628954755.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:55.213Z,1628954755.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:55.213Z,1628954755.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:55.214Z,1628954755.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:25:55.622Z,1628954755.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,002C1,184,80,80,A4,FF
2021-08-14T15:25:55.622Z,1628954755.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:25:55.622Z,1628954755.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:25:55.625Z,1628954755.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:25:56.037Z,1628954756.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:25:56.459Z,1628954756.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,002DA,186,80,80,A6,FF
2021-08-14T15:25:56.460Z,1628954756.460 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:25:56.536Z,1628954756.536 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:25:56.873Z,1628954756.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152557.39*55

2021-08-14T15:25:56.895Z,1628954756.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.300001 m, bearing: 62.381176 deg, deltaT: 4.509779 s, approachRate: 0.332611 m/s, LOS rate: -0.615421 deg/s, posRepo size: 4
2021-08-14T15:25:56.898Z,1628954756.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 62.381176 deg,
      approachRate: 0.332611 m/s,
      LOS rate: -0.615421 deg/s,
      cmd update: -1.846263 deg/s,
      cmd heading: 26.317771 deg,
      new cmd heading: 21.861198 deg.

2021-08-14T15:25:58.487Z,1628954758.487 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:25:59.275Z,1628954759.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:25:59.668Z,1628954759.668 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:25:59.668Z,1628954759.668 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:25:59.669Z,1628954759.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:25:59.670Z,1628954759.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:00.079Z,1628954760.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,002DA,186,80,80,A6,FF
2021-08-14T15:26:00.079Z,1628954760.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:00.079Z,1628954760.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:00.081Z,1628954760.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:00.514Z,1628954760.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:00.540Z,1628954760.540 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:26:00.877Z,1628954760.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,0031A,187,80,80,72,FF
2021-08-14T15:26:00.877Z,1628954760.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:00.897Z,1628954760.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:01.322Z,1628954761.322 [Micromodem](INFO): Nmea in: $SNTTA,0.030406,,,,152601.84*4C

2021-08-14T15:26:01.362Z,1628954761.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 89.978966 deg, deltaT: 4.361464 s, approachRate: 0.880438 m/s, LOS rate: 6.327643 deg/s, posRepo size: 4
2021-08-14T15:26:01.364Z,1628954761.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 89.978966 deg,
      approachRate: 0.880438 m/s,
      LOS rate: 6.327643 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 18.249197 deg,
      new cmd heading: 17.385447 deg.

2021-08-14T15:26:02.530Z,1628954762.530 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:26:03.799Z,1628954763.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:04.105Z,1628954764.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:04.105Z,1628954764.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:04.105Z,1628954764.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:04.106Z,1628954764.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:04.513Z,1628954764.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,0031A,187,80,80,72,FF
2021-08-14T15:26:04.513Z,1628954764.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:04.513Z,1628954764.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:04.515Z,1628954764.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:04.922Z,1628954764.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:05.317Z,1628954765.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00333,183,80,80,A8,FF
2021-08-14T15:26:05.317Z,1628954765.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:05.389Z,1628954765.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:05.765Z,1628954765.765 [Micromodem](INFO): Nmea in: $SNTTA,0.032403,,,,152606.28*4A

2021-08-14T15:26:05.837Z,1628954765.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 59.019562 deg, deltaT: 4.492205 s, approachRate: 0.333912 m/s, LOS rate: -6.891806 deg/s, posRepo size: 4
2021-08-14T15:26:05.839Z,1628954765.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 59.019562 deg,
      approachRate: 0.333912 m/s,
      LOS rate: -6.891806 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 71.967211 deg,
      new cmd heading: 77.512471 deg.

2021-08-14T15:26:08.175Z,1628954768.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:08.549Z,1628954768.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:08.549Z,1628954768.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:08.549Z,1628954768.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:08.550Z,1628954768.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:08.957Z,1628954768.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00333,183,80,80,A8,FF
2021-08-14T15:26:08.957Z,1628954768.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:08.957Z,1628954768.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:08.959Z,1628954768.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:09.368Z,1628954769.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:09.769Z,1628954769.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0035C,186,80,80,7A,FF
2021-08-14T15:26:09.769Z,1628954769.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:09.870Z,1628954769.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:10.213Z,1628954770.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152610.72*5A

2021-08-14T15:26:10.243Z,1628954770.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 64.007663 deg, deltaT: 4.480931 s, approachRate: 0.548993 m/s, LOS rate: 1.113184 deg/s, posRepo size: 4
2021-08-14T15:26:10.276Z,1628954770.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.10 m. Rolling out.
2021-08-14T15:26:10.277Z,1628954770.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:26:12.626Z,1628954772.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:12.997Z,1628954772.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:12.997Z,1628954772.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:12.997Z,1628954772.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:12.998Z,1628954772.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:13.401Z,1628954773.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0035C,186,80,80,7A,FF
2021-08-14T15:26:13.401Z,1628954773.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:13.401Z,1628954773.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:13.403Z,1628954773.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:13.816Z,1628954773.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:14.205Z,1628954774.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00389,186,80,80,36,FF
2021-08-14T15:26:14.206Z,1628954774.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:14.256Z,1628954774.256 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:14.650Z,1628954774.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152615.16*5D

2021-08-14T15:26:14.686Z,1628954774.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 76.754148 deg, deltaT: 4.385985 s, approachRate: 0.615598 m/s, LOS rate: 2.906185 deg/s, posRepo size: 4
2021-08-14T15:26:17.063Z,1628954777.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:17.464Z,1628954777.464 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:17.464Z,1628954777.464 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:17.464Z,1628954777.464 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:17.465Z,1628954777.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:17.849Z,1628954777.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00389,186,80,80,36,FF
2021-08-14T15:26:17.850Z,1628954777.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:17.850Z,1628954777.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:17.851Z,1628954777.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:18.248Z,1628954778.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:18.658Z,1628954778.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,003B7,186,80,80,44,FF
2021-08-14T15:26:18.658Z,1628954778.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:18.746Z,1628954778.746 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:19.089Z,1628954779.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152619.61*51

2021-08-14T15:26:19.120Z,1628954779.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 59.190419 deg, deltaT: 4.489380 s, approachRate: 0.614784 m/s, LOS rate: -3.912284 deg/s, posRepo size: 4
2021-08-14T15:26:21.585Z,1628954781.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:21.889Z,1628954781.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:21.889Z,1628954781.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:21.889Z,1628954781.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:21.890Z,1628954781.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:22.293Z,1628954782.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,003B7,186,80,80,44,FF
2021-08-14T15:26:22.294Z,1628954782.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:22.294Z,1628954782.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:22.296Z,1628954782.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:22.701Z,1628954782.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:23.541Z,1628954783.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152624.06*5E

2021-08-14T15:26:24.327Z,1628954784.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:25.925Z,1628954785.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,44,FF
2021-08-14T15:26:25.925Z,1628954785.925 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,44,FF
2021-08-14T15:26:25.925Z,1628954785.925 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:26:27.174Z,1628954787.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:27.553Z,1628954787.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:27.553Z,1628954787.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:27.554Z,1628954787.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:27.555Z,1628954787.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:27.953Z,1628954787.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,44,FF
2021-08-14T15:26:27.953Z,1628954787.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:27.953Z,1628954787.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:27.955Z,1628954787.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:28.353Z,1628954788.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:28.772Z,1628954788.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,378,000,00406,189,80,80,C2,FF
2021-08-14T15:26:28.772Z,1628954788.772 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:28.807Z,1628954788.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:29.200Z,1628954789.200 [Micromodem](INFO): Nmea in: $SNTTA,0.059008,,,,152629.72*4A

2021-08-14T15:26:29.224Z,1628954789.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 329.104687 deg, deltaT: 10.061228 s, approachRate: 0.471115 m/s, LOS rate: -8.953751 deg/s, posRepo size: 4
2021-08-14T15:26:31.697Z,1628954791.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:31.998Z,1628954791.998 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:31.998Z,1628954791.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:31.998Z,1628954791.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:31.999Z,1628954791.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:32.397Z,1628954792.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
378,000,00406,189,80,80,C2,FF
2021-08-14T15:26:32.397Z,1628954792.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:32.397Z,1628954792.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:32.399Z,1628954792.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:32.801Z,1628954792.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:33.204Z,1628954793.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38F,000,0042B,188,80,80,B0,FF
2021-08-14T15:26:33.205Z,1628954793.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:33.225Z,1628954793.225 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:33.645Z,1628954793.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152634.16*5E

2021-08-14T15:26:33.723Z,1628954793.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 324.398250 deg, deltaT: 4.417932 s, approachRate: 0.502497 m/s, LOS rate: -1.065303 deg/s, posRepo size: 4
2021-08-14T15:26:34.030Z,1628954794.030 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:26:35.729Z,1628954795.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:36.033Z,1628954796.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:36.033Z,1628954796.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:36.033Z,1628954796.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:36.034Z,1628954796.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:36.461Z,1628954796.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38F,000,0042B,188,80,80,B0,FF
2021-08-14T15:26:36.461Z,1628954796.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:36.461Z,1628954796.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:36.463Z,1628954796.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:36.852Z,1628954796.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:37.245Z,1628954797.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,0044C,188,80,80,AD,FF
2021-08-14T15:26:37.246Z,1628954797.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:37.266Z,1628954797.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:37.666Z,1628954797.666 [Micromodem](INFO): Nmea in: $SNTTA,0.045381,0.437798,,,152638.22*58

2021-08-14T15:26:37.730Z,1628954797.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 325.997334 deg, deltaT: 4.040925 s, approachRate: 0.489987 m/s, LOS rate: 0.395722 deg/s, posRepo size: 4
2021-08-14T15:26:40.087Z,1628954800.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:40.497Z,1628954800.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:40.497Z,1628954800.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:40.497Z,1628954800.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:40.498Z,1628954800.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:40.886Z,1628954800.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,0044C,188,80,80,AD,FF
2021-08-14T15:26:40.887Z,1628954800.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:40.887Z,1628954800.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:40.889Z,1628954800.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:41.293Z,1628954801.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:41.697Z,1628954801.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,00477,18A,80,80,73,FF
2021-08-14T15:26:41.698Z,1628954801.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:41.768Z,1628954801.768 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:42.129Z,1628954802.129 [Micromodem](INFO): Nmea in: $SNTTA,,0.264081,,,152642.65*4C

2021-08-14T15:26:42.159Z,1628954802.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 328.778751 deg, deltaT: 4.502480 s, approachRate: 0.573018 m/s, LOS rate: 0.617752 deg/s, posRepo size: 4
2021-08-14T15:26:44.555Z,1628954804.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:44.921Z,1628954804.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:44.921Z,1628954804.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:44.921Z,1628954804.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:44.922Z,1628954804.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:45.325Z,1628954805.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,00477,18A,80,80,73,FF
2021-08-14T15:26:45.325Z,1628954805.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:45.325Z,1628954805.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:45.327Z,1628954805.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:45.741Z,1628954805.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:46.139Z,1628954806.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,004A0,189,80,80,4E,FF
2021-08-14T15:26:46.139Z,1628954806.139 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:46.159Z,1628954806.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:46.569Z,1628954806.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152647.09*54

2021-08-14T15:26:46.615Z,1628954806.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.539997 m, bearing: 330.011627 deg, deltaT: 4.390470 s, approachRate: 0.560304 m/s, LOS rate: 0.280807 deg/s, posRepo size: 4
2021-08-14T15:26:49.009Z,1628954809.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:49.371Z,1628954809.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:49.371Z,1628954809.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:49.371Z,1628954809.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:49.372Z,1628954809.372 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:49.769Z,1628954809.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
335,000,004A0,189,80,80,4E,FF
2021-08-14T15:26:49.769Z,1628954809.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:49.769Z,1628954809.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:49.771Z,1628954809.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:50.185Z,1628954810.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:51.002Z,1628954811.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152651.53*5C

2021-08-14T15:26:51.801Z,1628954811.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E1,000,036AA,189,80,80,58,FF
2021-08-14T15:26:51.802Z,1628954811.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:51.913Z,1628954811.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:26:52.239Z,1628954812.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 802.140015 m, bearing: 321.920613 deg, deltaT: 5.754601 s, approachRate: 133.562698 m/s, LOS rate: -1.406008 deg/s, posRepo size: 4
2021-08-14T15:26:52.239Z,1628954812.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 802.14 m. Resuming terminal guidance.
2021-08-14T15:26:52.240Z,1628954812.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:26:52.631Z,1628954812.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:26:52.631Z,1628954812.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:26:52.631Z,1628954812.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:26:52.632Z,1628954812.632 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:26:52.632Z,1628954812.632 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:26:52.632Z,1628954812.632 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:26:53.026Z,1628954813.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:26:53.026Z,1628954813.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:26:53.026Z,1628954813.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:26:53.027Z,1628954813.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:26:54.658Z,1628954814.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:55.021Z,1628954815.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:55.021Z,1628954815.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:55.021Z,1628954815.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:55.022Z,1628954815.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:55.437Z,1628954815.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E1,000,036AA,189,80,80,58,FF
2021-08-14T15:26:55.437Z,1628954815.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:55.438Z,1628954815.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:55.444Z,1628954815.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:26:55.850Z,1628954815.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:26:56.237Z,1628954816.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,493,000,0050B,18A,80,80,5D,FF
2021-08-14T15:26:56.238Z,1628954816.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:26:56.670Z,1628954816.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152657.21*5F

2021-08-14T15:26:56.715Z,1628954816.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 313.394515 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:26:56.715Z,1628954816.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-08-14T15:26:56.717Z,1628954816.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 313.394515deg and heading rate command to 0 deg/s.
2021-08-14T15:26:57.082Z,1628954817.082 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:26:57.117Z,1628954817.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:26:57.117Z,1628954817.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:26:57.117Z,1628954817.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:26:57.118Z,1628954817.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:26:57.118Z,1628954817.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:26:57.118Z,1628954817.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:26:57.586Z,1628954817.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:26:57.586Z,1628954817.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:26:57.586Z,1628954817.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:26:57.586Z,1628954817.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:26:59.079Z,1628954819.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:26:59.493Z,1628954819.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:26:59.493Z,1628954819.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:26:59.493Z,1628954819.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:26:59.494Z,1628954819.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:26:59.881Z,1628954819.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
493,000,0050B,18A,80,80,5D,FF
2021-08-14T15:26:59.881Z,1628954819.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:26:59.881Z,1628954819.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:26:59.883Z,1628954819.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:00.277Z,1628954820.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:01.106Z,1628954821.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152701.65*5D

2021-08-14T15:27:01.587Z,1628954821.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:03.508Z,1628954823.508 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,18A,80,80,5D,FF
2021-08-14T15:27:03.510Z,1628954823.510 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,18A,80,80,5D,FF
2021-08-14T15:27:03.510Z,1628954823.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:27:04.336Z,1628954824.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:04.733Z,1628954824.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:04.733Z,1628954824.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:04.733Z,1628954824.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:04.734Z,1628954824.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:05.129Z,1628954825.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,18A,80,80,5D,FF
2021-08-14T15:27:05.129Z,1628954825.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:05.130Z,1628954825.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:05.131Z,1628954825.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:05.571Z,1628954825.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:06.367Z,1628954826.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152706.90*50

2021-08-14T15:27:07.179Z,1628954827.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:08.777Z,1628954828.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,18A,80,80,5D,FF
2021-08-14T15:27:08.777Z,1628954828.777 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,18A,80,80,5D,FF
2021-08-14T15:27:08.777Z,1628954828.777 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:27:09.740Z,1628954829.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:09.977Z,1628954829.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:09.977Z,1628954829.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:09.977Z,1628954829.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:09.978Z,1628954829.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:10.393Z,1628954830.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,18A,80,80,5D,FF
2021-08-14T15:27:10.393Z,1628954830.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:10.393Z,1628954830.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:10.395Z,1628954830.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:10.788Z,1628954830.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:11.193Z,1628954831.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,00584,186,80,80,B2,FF
2021-08-14T15:27:11.194Z,1628954831.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:11.214Z,1628954831.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:27:11.641Z,1628954831.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152712.16*5B

2021-08-14T15:27:11.729Z,1628954831.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 300.548350 deg, deltaT: 14.911549 s, approachRate: 0.486871 m/s, LOS rate: -0.861491 deg/s, posRepo size: 2
2021-08-14T15:27:11.731Z,1628954831.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.219997 m,
      bearing: 300.548350 deg,
      approachRate: 0.486871 m/s,
      LOS rate: -0.861491 deg/s,
      cmd update: -2.584473 deg/s,
      cmd heading: 313.394515 deg,
      new cmd heading: 313.394515 deg.

2021-08-14T15:27:12.053Z,1628954832.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:27:12.053Z,1628954832.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:27:12.053Z,1628954832.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:27:12.054Z,1628954832.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:27:12.054Z,1628954832.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:27:12.054Z,1628954832.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:27:12.473Z,1628954832.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:27:12.474Z,1628954832.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:27:12.474Z,1628954832.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:27:12.474Z,1628954832.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:27:13.725Z,1628954833.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:14.009Z,1628954834.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:14.009Z,1628954834.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:14.009Z,1628954834.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:14.010Z,1628954834.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:14.452Z,1628954834.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,00584,186,80,80,B2,FF
2021-08-14T15:27:14.453Z,1628954834.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:14.454Z,1628954834.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:14.461Z,1628954834.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:14.833Z,1628954834.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:15.234Z,1628954835.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D3,000,0059D,187,80,80,35,FF
2021-08-14T15:27:15.235Z,1628954835.235 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:15.647Z,1628954835.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152716.22*58

2021-08-14T15:27:15.735Z,1628954835.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 287.592191 deg, deltaT: 4.074059 s, approachRate: 0.368184 m/s, LOS rate: -3.180160 deg/s, posRepo size: 3
2021-08-14T15:27:15.738Z,1628954835.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.720001 m,
      bearing: 287.592191 deg,
      approachRate: 0.368184 m/s,
      LOS rate: -3.180160 deg/s,
      cmd update: -9.540479 deg/s,
      cmd heading: 302.886096 deg,
      new cmd heading: 301.700014 deg.

2021-08-14T15:27:18.084Z,1628954838.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:18.491Z,1628954838.491 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:18.491Z,1628954838.491 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:18.492Z,1628954838.492 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:18.493Z,1628954838.493 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:18.862Z,1628954838.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D3,000,0059D,187,80,80,35,FF
2021-08-14T15:27:18.862Z,1628954838.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:18.862Z,1628954838.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:18.863Z,1628954838.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:19.267Z,1628954839.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:19.674Z,1628954839.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0059D,189,80,80,A8,FF
2021-08-14T15:27:19.675Z,1628954839.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:20.113Z,1628954840.113 [Micromodem](INFO): Nmea in: $SNTTA,0.041538,,,,152720.62*4C

2021-08-14T15:27:20.147Z,1628954840.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 235.030580 deg, deltaT: 4.479960 s, approachRate: 0.000000 m/s, LOS rate: -11.732607 deg/s, posRepo size: 4
2021-08-14T15:27:20.149Z,1628954840.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.732607 deg/s. Setting heading cmd to target bearing of 235.030580deg and heading rate command to 0 deg/s.
2021-08-14T15:27:22.547Z,1628954842.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:22.897Z,1628954842.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:22.897Z,1628954842.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:22.897Z,1628954842.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:22.898Z,1628954842.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:23.315Z,1628954843.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0059D,189,80,80,A8,FF
2021-08-14T15:27:23.315Z,1628954843.315 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:23.315Z,1628954843.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:23.319Z,1628954843.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:23.725Z,1628954843.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:24.125Z,1628954844.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0059C,189,80,80,97,FF
2021-08-14T15:27:24.126Z,1628954844.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:24.545Z,1628954844.545 [Micromodem](INFO): Nmea in: $SNTTA,0.062779,,,,152725.08*43

2021-08-14T15:27:24.571Z,1628954844.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 217.142000 deg, deltaT: 4.389741 s, approachRate: -0.013669 m/s, LOS rate: -4.075088 deg/s, posRepo size: 4
2021-08-14T15:27:24.573Z,1628954844.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.660000 m,
      bearing: 217.142000 deg,
      approachRate: -0.013669 m/s,
      LOS rate: -4.075088 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 235.030580 deg,
      new cmd heading: 235.030580 deg.

2021-08-14T15:27:26.975Z,1628954846.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:27.341Z,1628954847.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:27.341Z,1628954847.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:27.341Z,1628954847.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:27.342Z,1628954847.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:27.741Z,1628954847.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0059C,189,80,80,97,FF
2021-08-14T15:27:27.741Z,1628954847.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:27.742Z,1628954847.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:27.743Z,1628954847.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:28.183Z,1628954848.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:28.561Z,1628954848.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00598,188,80,80,A8,FF
2021-08-14T15:27:28.562Z,1628954848.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:28.990Z,1628954848.990 [Micromodem](INFO): Nmea in: $SNTTA,0.041521,,,,152729.50*4C

2021-08-14T15:27:29.050Z,1628954849.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.419998 m, bearing: 200.639703 deg, deltaT: 4.462497 s, approachRate: -0.053782 m/s, LOS rate: -3.697996 deg/s, posRepo size: 4
2021-08-14T15:27:29.056Z,1628954849.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.419998 m,
      bearing: 200.639703 deg,
      approachRate: -0.053782 m/s,
      LOS rate: -3.697996 deg/s,
      cmd update: -11.093989 deg/s,
      cmd heading: 181.496657 deg,
      new cmd heading: 176.253077 deg.

2021-08-14T15:27:31.421Z,1628954851.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:31.785Z,1628954851.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:31.785Z,1628954851.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:31.785Z,1628954851.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:31.786Z,1628954851.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:32.197Z,1628954852.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00598,188,80,80,A8,FF
2021-08-14T15:27:32.198Z,1628954852.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:32.198Z,1628954852.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:32.199Z,1628954852.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:32.600Z,1628954852.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:33.002Z,1628954853.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0057E,189,80,80,7E,FF
2021-08-14T15:27:33.003Z,1628954853.003 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:33.444Z,1628954853.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152733.96*50

2021-08-14T15:27:33.497Z,1628954853.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 185.093018 deg, deltaT: 4.406026 s, approachRate: -0.354060 m/s, LOS rate: -3.528505 deg/s, posRepo size: 4
2021-08-14T15:27:33.499Z,1628954853.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 185.093018 deg,
      approachRate: -0.354060 m/s,
      LOS rate: -3.528505 deg/s,
      cmd update: -10.585516 deg/s,
      cmd heading: 132.569312 deg,
      new cmd heading: 127.312037 deg.

2021-08-14T15:27:35.899Z,1628954855.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:36.229Z,1628954856.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:36.229Z,1628954856.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:36.230Z,1628954856.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:36.231Z,1628954856.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:36.629Z,1628954856.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0057E,189,80,80,7E,FF
2021-08-14T15:27:36.629Z,1628954856.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:36.630Z,1628954856.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:36.631Z,1628954856.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:37.061Z,1628954857.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:37.449Z,1628954857.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,329,000,0055D,18A,80,80,79,FF
2021-08-14T15:27:37.450Z,1628954857.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:37.885Z,1628954857.885 [Micromodem](INFO): Nmea in: $SNTTA,0.036980,,,,152738.40*4A

2021-08-14T15:27:37.968Z,1628954857.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.879997 m, bearing: 194.173891 deg, deltaT: 4.560176 s, approachRate: -0.434195 m/s, LOS rate: 1.991343 deg/s, posRepo size: 4
2021-08-14T15:27:37.970Z,1628954857.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.879997 m,
      bearing: 194.173891 deg,
      approachRate: -0.434195 m/s,
      LOS rate: 1.991343 deg/s,
      cmd update: 5.974028 deg/s,
      cmd heading: 84.340336 deg,
      new cmd heading: 80.279234 deg.

2021-08-14T15:27:40.303Z,1628954860.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:40.673Z,1628954860.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:40.674Z,1628954860.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:40.674Z,1628954860.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:40.675Z,1628954860.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:41.085Z,1628954861.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
329,000,0055D,18A,80,80,79,FF
2021-08-14T15:27:41.085Z,1628954861.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:41.085Z,1628954861.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:41.087Z,1628954861.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:41.530Z,1628954861.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:41.893Z,1628954861.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00536,188,80,80,9E,FF
2021-08-14T15:27:41.893Z,1628954861.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:42.329Z,1628954862.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152742.85*54

2021-08-14T15:27:42.374Z,1628954862.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 190.507349 deg, deltaT: 4.373031 s, approachRate: -0.535097 m/s, LOS rate: -0.838444 deg/s, posRepo size: 4
2021-08-14T15:27:42.377Z,1628954862.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.540001 m,
      bearing: 190.507349 deg,
      approachRate: -0.535097 m/s,
      LOS rate: -0.838444 deg/s,
      cmd update: -2.515332 deg/s,
      cmd heading: 110.456846 deg,
      new cmd heading: 112.849911 deg.

2021-08-14T15:27:44.768Z,1628954864.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:45.120Z,1628954865.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:45.121Z,1628954865.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:45.121Z,1628954865.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:45.122Z,1628954865.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:45.534Z,1628954865.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00536,188,80,80,9E,FF
2021-08-14T15:27:45.535Z,1628954865.535 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:45.535Z,1628954865.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:45.542Z,1628954865.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:45.934Z,1628954865.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:46.325Z,1628954866.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,00509,186,80,80,9C,FF
2021-08-14T15:27:46.326Z,1628954866.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:46.773Z,1628954866.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152747.30*5F

2021-08-14T15:27:46.799Z,1628954866.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 191.425942 deg, deltaT: 4.423198 s, approachRate: -0.610418 m/s, LOS rate: 0.207676 deg/s, posRepo size: 4
2021-08-14T15:27:46.800Z,1628954866.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.84 m.
2021-08-14T15:27:46.800Z,1628954866.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.84 m.
2021-08-14T15:27:46.801Z,1628954866.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:27:46.803Z,1628954866.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.840000 m,
      bearing: 191.425942 deg,
      approachRate: -0.610418 m/s,
      LOS rate: 0.207676 deg/s,
      cmd update: 0.623028 deg/s,
      cmd heading: 99.328050 deg,
      new cmd heading: 98.261763 deg.

2021-08-14T15:27:47.177Z,1628954867.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:27:47.177Z,1628954867.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:27:47.177Z,1628954867.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:27:47.178Z,1628954867.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:27:47.178Z,1628954867.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:27:47.178Z,1628954867.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:27:47.655Z,1628954867.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:27:47.655Z,1628954867.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:27:47.655Z,1628954867.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:27:47.655Z,1628954867.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:27:49.175Z,1628954869.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:49.601Z,1628954869.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:49.601Z,1628954869.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:49.601Z,1628954869.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:49.602Z,1628954869.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:49.965Z,1628954869.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,00509,186,80,80,9C,FF
2021-08-14T15:27:49.965Z,1628954869.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:49.965Z,1628954869.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:49.967Z,1628954869.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:50.369Z,1628954870.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:50.781Z,1628954870.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,004E3,184,80,80,60,FF
2021-08-14T15:27:50.782Z,1628954870.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:50.813Z,1628954870.813 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:27:51.217Z,1628954871.217 [Micromodem](INFO): Nmea in: $SNTTA,0.041493,,,,152751.73*4A

2021-08-14T15:27:51.239Z,1628954871.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 189.965442 deg, deltaT: 4.430290 s, approachRate: -0.514640 m/s, LOS rate: -0.329662 deg/s, posRepo size: 4
2021-08-14T15:27:51.242Z,1628954871.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.559998 m,
      bearing: 189.965442 deg,
      approachRate: -0.514640 m/s,
      LOS rate: -0.329662 deg/s,
      cmd update: -0.988987 deg/s,
      cmd heading: 102.090682 deg,
      new cmd heading: 102.358436 deg.

2021-08-14T15:27:53.703Z,1628954873.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:54.005Z,1628954874.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:54.005Z,1628954874.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:54.005Z,1628954874.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:54.006Z,1628954874.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:54.413Z,1628954874.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,004E3,184,80,80,60,FF
2021-08-14T15:27:54.413Z,1628954874.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:54.413Z,1628954874.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:54.415Z,1628954874.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:54.824Z,1628954874.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:55.217Z,1628954875.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,004AD,187,80,80,95,FF
2021-08-14T15:27:55.218Z,1628954875.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:55.270Z,1628954875.270 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:27:55.662Z,1628954875.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152756.18*55

2021-08-14T15:27:55.730Z,1628954875.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 197.039934 deg, deltaT: 4.457748 s, approachRate: -0.726824 m/s, LOS rate: 1.587010 deg/s, posRepo size: 4
2021-08-14T15:27:55.732Z,1628954875.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.320000 m,
      bearing: 197.039934 deg,
      approachRate: -0.726824 m/s,
      LOS rate: 1.587010 deg/s,
      cmd update: 4.761030 deg/s,
      cmd heading: 97.686015 deg,
      new cmd heading: 97.224372 deg.

2021-08-14T15:27:58.063Z,1628954878.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:27:58.465Z,1628954878.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:27:58.465Z,1628954878.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:27:58.465Z,1628954878.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:27:58.466Z,1628954878.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:27:58.853Z,1628954878.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,004AD,187,80,80,95,FF
2021-08-14T15:27:58.853Z,1628954878.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:27:58.853Z,1628954878.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:27:58.855Z,1628954878.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:27:59.257Z,1628954879.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:27:59.658Z,1628954879.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA1,000,00482,189,80,80,72,FF
2021-08-14T15:27:59.659Z,1628954879.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:27:59.748Z,1628954879.748 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:28:00.105Z,1628954880.105 [Micromodem](INFO): Nmea in: $SNTTA,0.279458,,,,152800.62*4F

2021-08-14T15:28:00.131Z,1628954880.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 198.184264 deg, deltaT: 4.477807 s, approachRate: -0.576174 m/s, LOS rate: 0.255556 deg/s, posRepo size: 4
2021-08-14T15:28:00.134Z,1628954880.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.740002 m,
      bearing: 198.184264 deg,
      approachRate: -0.576174 m/s,
      LOS rate: 0.255556 deg/s,
      cmd update: 0.766668 deg/s,
      cmd heading: 119.022924 deg,
      new cmd heading: 120.863510 deg.

2021-08-14T15:28:02.537Z,1628954882.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:02.893Z,1628954882.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:02.893Z,1628954882.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:02.893Z,1628954882.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:02.894Z,1628954882.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:03.297Z,1628954883.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA1,000,00482,189,80,80,72,FF
2021-08-14T15:28:03.297Z,1628954883.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:03.297Z,1628954883.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:03.299Z,1628954883.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:03.712Z,1628954883.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:04.109Z,1628954884.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBE,000,00462,189,80,80,86,FF
2021-08-14T15:28:04.109Z,1628954884.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:04.130Z,1628954884.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:28:04.537Z,1628954884.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152805.06*53

2021-08-14T15:28:04.575Z,1628954884.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 194.244392 deg, deltaT: 4.381892 s, approachRate: -0.438168 m/s, LOS rate: -0.899126 deg/s, posRepo size: 4
2021-08-14T15:28:04.578Z,1628954884.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.819998 m,
      bearing: 194.244392 deg,
      approachRate: -0.438168 m/s,
      LOS rate: -0.899126 deg/s,
      cmd update: -2.697377 deg/s,
      cmd heading: 122.382538 deg,
      new cmd heading: 122.726118 deg.

2021-08-14T15:28:06.967Z,1628954886.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:07.341Z,1628954887.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:07.341Z,1628954887.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:07.341Z,1628954887.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:07.342Z,1628954887.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:07.749Z,1628954887.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBE,000,00462,189,80,80,86,FF
2021-08-14T15:28:07.749Z,1628954887.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:07.749Z,1628954887.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:07.751Z,1628954887.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:08.149Z,1628954888.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:08.549Z,1628954888.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C59,000,00453,189,80,80,8F,FF
2021-08-14T15:28:08.549Z,1628954888.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:08.603Z,1628954888.603 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:28:08.985Z,1628954888.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152809.51*5D

2021-08-14T15:28:09.018Z,1628954889.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 170.764210 deg, deltaT: 4.477557 s, approachRate: -0.201002 m/s, LOS rate: -5.243972 deg/s, posRepo size: 4
2021-08-14T15:28:09.020Z,1628954889.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.920000 m,
      bearing: 170.764210 deg,
      approachRate: -0.201002 m/s,
      LOS rate: -5.243972 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 110.380985 deg,
      new cmd heading: 109.190821 deg.

2021-08-14T15:28:11.400Z,1628954891.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:11.785Z,1628954891.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:11.785Z,1628954891.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:11.785Z,1628954891.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:11.786Z,1628954891.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:12.182Z,1628954892.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C59,000,00453,189,80,80,8F,FF
2021-08-14T15:28:12.182Z,1628954892.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:12.182Z,1628954892.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:12.184Z,1628954892.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:12.593Z,1628954892.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:13.433Z,1628954893.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152813.94*5F

2021-08-14T15:28:14.227Z,1628954894.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:15.821Z,1628954895.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,8F,FF
2021-08-14T15:28:15.821Z,1628954895.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,8F,FF
2021-08-14T15:28:15.821Z,1628954895.821 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:28:17.058Z,1628954897.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:17.460Z,1628954897.460 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:17.460Z,1628954897.460 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:17.460Z,1628954897.460 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:17.461Z,1628954897.461 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:17.837Z,1628954897.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,8F,FF
2021-08-14T15:28:17.837Z,1628954897.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:17.837Z,1628954897.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:17.839Z,1628954897.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:18.276Z,1628954898.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:18.645Z,1628954898.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,0046A,186,80,80,46,FF
2021-08-14T15:28:18.645Z,1628954898.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:18.729Z,1628954898.729 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:28:19.090Z,1628954899.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152819.60*5E

2021-08-14T15:28:19.106Z,1628954899.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 104.833657 deg, deltaT: 10.121410 s, approachRate: 0.136345 m/s, LOS rate: -6.513969 deg/s, posRepo size: 4
2021-08-14T15:28:19.108Z,1628954899.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.300001 m,
      bearing: 104.833657 deg,
      approachRate: 0.136345 m/s,
      LOS rate: -6.513969 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 348.633361 deg,
      new cmd heading: 344.029417 deg.

2021-08-14T15:28:21.580Z,1628954901.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:21.881Z,1628954901.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:21.881Z,1628954901.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:21.881Z,1628954901.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:21.882Z,1628954901.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:22.281Z,1628954902.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,0046A,186,80,80,46,FF
2021-08-14T15:28:22.282Z,1628954902.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:22.282Z,1628954902.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:22.283Z,1628954902.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:22.691Z,1628954902.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:23.093Z,1628954903.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,0048D,187,80,80,36,FF
2021-08-14T15:28:23.093Z,1628954903.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:23.114Z,1628954903.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:28:23.569Z,1628954903.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152824.05*53

2021-08-14T15:28:23.627Z,1628954903.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 87.357477 deg, deltaT: 4.384563 s, approachRate: 0.478952 m/s, LOS rate: -3.985843 deg/s, posRepo size: 4
2021-08-14T15:28:23.629Z,1628954903.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.399998 m,
      bearing: 87.357477 deg,
      approachRate: 0.478952 m/s,
      LOS rate: -3.985843 deg/s,
      cmd update: -11.957529 deg/s,
      cmd heading: 295.970279 deg,
      new cmd heading: 289.775759 deg.

2021-08-14T15:28:25.967Z,1628954905.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:26.317Z,1628954906.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:26.317Z,1628954906.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:26.317Z,1628954906.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:26.318Z,1628954906.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:26.729Z,1628954906.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,0048D,187,80,80,36,FF
2021-08-14T15:28:26.729Z,1628954906.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:26.729Z,1628954906.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:26.731Z,1628954906.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:27.132Z,1628954907.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:27.569Z,1628954907.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,004C3,188,80,80,76,FF
2021-08-14T15:28:27.569Z,1628954907.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:27.647Z,1628954907.647 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:28:27.969Z,1628954907.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152828.49*57

2021-08-14T15:28:28.007Z,1628954908.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 82.671414 deg, deltaT: 4.533014 s, approachRate: 0.714757 m/s, LOS rate: -1.033763 deg/s, posRepo size: 4
2021-08-14T15:28:28.014Z,1628954908.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 82.671414 deg,
      approachRate: 0.714757 m/s,
      LOS rate: -1.033763 deg/s,
      cmd update: -3.101290 deg/s,
      cmd heading: 241.767396 deg,
      new cmd heading: 237.415142 deg.

2021-08-14T15:28:30.386Z,1628954910.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:30.781Z,1628954910.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:30.781Z,1628954910.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:30.781Z,1628954910.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:30.782Z,1628954910.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:31.165Z,1628954911.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,004C3,188,80,80,76,FF
2021-08-14T15:28:31.166Z,1628954911.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:31.166Z,1628954911.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:31.167Z,1628954911.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:31.608Z,1628954911.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:31.977Z,1628954911.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,0053D,186,80,80,4A,FF
2021-08-14T15:28:31.978Z,1628954911.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:32.070Z,1628954912.070 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:28:32.429Z,1628954912.429 [Micromodem](INFO): Nmea in: $SNTTA,0.041618,,,,152832.94*48

2021-08-14T15:28:32.480Z,1628954912.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 15.592280 deg, deltaT: 4.423704 s, approachRate: 1.654722 m/s, LOS rate: -15.163568 deg/s, posRepo size: 4
2021-08-14T15:28:32.481Z,1628954912.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.163568 deg/s. Setting heading cmd to target bearing of 15.592280deg and heading rate command to 0 deg/s.
2021-08-14T15:28:32.821Z,1628954912.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:28:32.821Z,1628954912.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:28:32.821Z,1628954912.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:28:32.822Z,1628954912.822 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:28:32.822Z,1628954912.822 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:28:32.822Z,1628954912.822 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:28:33.255Z,1628954913.255 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:28:33.255Z,1628954913.255 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:28:33.255Z,1628954913.255 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:28:33.255Z,1628954913.255 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:28:34.846Z,1628954914.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:35.209Z,1628954915.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:35.209Z,1628954915.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:35.209Z,1628954915.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:35.210Z,1628954915.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:35.629Z,1628954915.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18C,000,0053D,186,80,80,4A,FF
2021-08-14T15:28:35.629Z,1628954915.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:35.629Z,1628954915.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:35.631Z,1628954915.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:36.021Z,1628954916.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:36.437Z,1628954916.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,0051B,186,80,80,A6,FF
2021-08-14T15:28:36.438Z,1628954916.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:36.853Z,1628954916.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152837.39*5E

2021-08-14T15:28:36.893Z,1628954916.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 22.921840 deg, deltaT: 4.432792 s, approachRate: -0.460206 m/s, LOS rate: 1.653486 deg/s, posRepo size: 4
2021-08-14T15:28:36.895Z,1628954916.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.920002 m,
      bearing: 22.921840 deg,
      approachRate: -0.460206 m/s,
      LOS rate: 1.653486 deg/s,
      cmd update: 4.960458 deg/s,
      cmd heading: 15.592280 deg,
      new cmd heading: 15.592280 deg.

2021-08-14T15:28:39.291Z,1628954919.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:39.662Z,1628954919.662 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:39.662Z,1628954919.662 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:39.662Z,1628954919.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:39.663Z,1628954919.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:40.061Z,1628954920.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,0051B,186,80,80,A6,FF
2021-08-14T15:28:40.061Z,1628954920.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:40.061Z,1628954920.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:40.063Z,1628954920.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:40.497Z,1628954920.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:40.865Z,1628954920.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00542,189,80,80,BF,FF
2021-08-14T15:28:40.866Z,1628954920.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:41.313Z,1628954921.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152841.83*5E

2021-08-14T15:28:41.354Z,1628954921.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 322.981450 deg, deltaT: 4.410483 s, approachRate: 0.530553 m/s, LOS rate: -13.590437 deg/s, posRepo size: 4
2021-08-14T15:28:41.355Z,1628954921.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.590437 deg/s. Setting heading cmd to target bearing of 322.981450deg and heading rate command to 0 deg/s.
2021-08-14T15:28:43.760Z,1628954923.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:44.105Z,1628954924.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:44.105Z,1628954924.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:44.105Z,1628954924.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:44.106Z,1628954924.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:44.514Z,1628954924.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00542,189,80,80,BF,FF
2021-08-14T15:28:44.514Z,1628954924.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:44.515Z,1628954924.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:44.517Z,1628954924.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:44.909Z,1628954924.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:45.319Z,1628954925.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,0055C,189,80,80,90,FF
2021-08-14T15:28:45.320Z,1628954925.320 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:45.757Z,1628954925.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152846.28*58

2021-08-14T15:28:45.824Z,1628954925.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 305.347924 deg, deltaT: 4.469210 s, approachRate: 0.349055 m/s, LOS rate: -3.945558 deg/s, posRepo size: 4
2021-08-14T15:28:45.826Z,1628954925.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.820000 m,
      bearing: 305.347924 deg,
      approachRate: 0.349055 m/s,
      LOS rate: -3.945558 deg/s,
      cmd update: -11.836673 deg/s,
      cmd heading: 322.981450 deg,
      new cmd heading: 322.981450 deg.

2021-08-14T15:28:48.174Z,1628954928.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:48.554Z,1628954928.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:48.554Z,1628954928.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:48.554Z,1628954928.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:48.555Z,1628954928.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:48.945Z,1628954928.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,0055C,189,80,80,90,FF
2021-08-14T15:28:48.945Z,1628954928.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:48.945Z,1628954928.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:48.947Z,1628954928.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:49.370Z,1628954929.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:49.749Z,1628954929.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,00571,188,80,80,A2,FF
2021-08-14T15:28:49.750Z,1628954929.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:50.198Z,1628954930.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152850.71*53

2021-08-14T15:28:50.252Z,1628954930.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 299.467404 deg, deltaT: 4.471664 s, approachRate: 0.281775 m/s, LOS rate: -1.315063 deg/s, posRepo size: 4
2021-08-14T15:28:50.254Z,1628954930.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.080002 m,
      bearing: 299.467404 deg,
      approachRate: 0.281775 m/s,
      LOS rate: -1.315063 deg/s,
      cmd update: -3.945189 deg/s,
      cmd heading: 270.011840 deg,
      new cmd heading: 265.318800 deg.

2021-08-14T15:28:52.665Z,1628954932.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:52.989Z,1628954932.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:52.989Z,1628954932.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:52.989Z,1628954932.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:52.990Z,1628954932.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:53.402Z,1628954933.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,00571,188,80,80,A2,FF
2021-08-14T15:28:53.402Z,1628954933.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:53.402Z,1628954933.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:53.408Z,1628954933.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:53.805Z,1628954933.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:54.197Z,1628954934.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C77,000,00581,189,80,80,91,FF
2021-08-14T15:28:54.198Z,1628954934.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:28:54.626Z,1628954934.626 [Micromodem](INFO): Nmea in: $SNTTA,0.038607,,,,152855.17*42

2021-08-14T15:28:54.671Z,1628954934.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 352.734847 deg, deltaT: 4.390569 s, approachRate: 0.218650 m/s, LOS rate: 12.132241 deg/s, posRepo size: 4
2021-08-14T15:28:54.673Z,1628954934.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 47.04 m. Rolling out.
2021-08-14T15:28:54.673Z,1628954934.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:28:57.067Z,1628954937.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:28:57.440Z,1628954937.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:28:57.441Z,1628954937.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:28:57.441Z,1628954937.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:28:57.443Z,1628954937.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:28:57.845Z,1628954937.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C77,000,00581,189,80,80,91,FF
2021-08-14T15:28:57.845Z,1628954937.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:28:57.845Z,1628954937.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:28:57.847Z,1628954937.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:28:58.255Z,1628954938.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:28:59.070Z,1628954939.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152859.61*5B

2021-08-14T15:28:59.586Z,1628954939.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:01.493Z,1628954941.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,91,FF
2021-08-14T15:29:01.493Z,1628954941.493 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,91,FF
2021-08-14T15:29:01.493Z,1628954941.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:29:02.295Z,1628954942.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:02.690Z,1628954942.690 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:02.690Z,1628954942.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:02.690Z,1628954942.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:02.691Z,1628954942.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:03.089Z,1628954943.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,91,FF
2021-08-14T15:29:03.089Z,1628954943.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:03.089Z,1628954943.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:03.091Z,1628954943.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:03.513Z,1628954943.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:03.901Z,1628954943.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00573,188,80,80,95,FF
2021-08-14T15:29:03.902Z,1628954943.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:04.333Z,1628954944.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152904.85*58

2021-08-14T15:29:04.356Z,1628954944.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 208.626106 deg, deltaT: 9.695995 s, approachRate: -0.086634 m/s, LOS rate: -14.862708 deg/s, posRepo size: 4
2021-08-14T15:29:06.758Z,1628954946.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:07.140Z,1628954947.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:07.140Z,1628954947.140 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:07.141Z,1628954947.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:07.141Z,1628954947.141 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:07.617Z,1628954947.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00573,188,80,80,95,FF
2021-08-14T15:29:07.617Z,1628954947.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:07.617Z,1628954947.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:07.619Z,1628954947.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:07.956Z,1628954947.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:08.361Z,1628954948.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00564,18A,80,80,86,FF
2021-08-14T15:29:08.362Z,1628954948.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:08.795Z,1628954948.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152909.38*53

2021-08-14T15:29:08.846Z,1628954948.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 192.194201 deg, deltaT: 4.440789 s, approachRate: -0.202666 m/s, LOS rate: -3.700222 deg/s, posRepo size: 4
2021-08-14T15:29:11.204Z,1628954951.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:11.617Z,1628954951.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:11.617Z,1628954951.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:11.617Z,1628954951.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:11.618Z,1628954951.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:12.002Z,1628954952.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00564,18A,80,80,86,FF
2021-08-14T15:29:12.002Z,1628954952.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:12.002Z,1628954952.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:12.004Z,1628954952.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:12.409Z,1628954952.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:12.813Z,1628954952.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EB,000,00544,189,80,80,5C,FF
2021-08-14T15:29:12.814Z,1628954952.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:13.261Z,1628954953.261 [Micromodem](INFO): Nmea in: $SNTTA,0.053531,,,,152913.77*4C

2021-08-14T15:29:13.294Z,1628954953.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 196.575358 deg, deltaT: 4.452084 s, approachRate: -0.431258 m/s, LOS rate: 0.984069 deg/s, posRepo size: 4
2021-08-14T15:29:15.743Z,1628954955.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:16.041Z,1628954956.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:16.041Z,1628954956.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:16.042Z,1628954956.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:16.043Z,1628954956.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:16.458Z,1628954956.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EB,000,00544,189,80,80,5C,FF
2021-08-14T15:29:16.458Z,1628954956.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:16.458Z,1628954956.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:16.460Z,1628954956.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:16.853Z,1628954956.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:17.253Z,1628954957.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E4,000,0051E,189,80,80,7D,FF
2021-08-14T15:29:17.254Z,1628954957.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:17.257Z,1628954957.257 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:29:17.705Z,1628954957.705 [Micromodem](INFO): Nmea in: $SNTTA,0.041503,,,,152918.22*45

2021-08-14T15:29:17.758Z,1628954957.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 182.248667 deg, deltaT: 4.439759 s, approachRate: -0.513542 m/s, LOS rate: -3.226907 deg/s, posRepo size: 4
2021-08-14T15:29:20.099Z,1628954960.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:20.509Z,1628954960.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:20.509Z,1628954960.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:20.509Z,1628954960.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:20.510Z,1628954960.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:20.889Z,1628954960.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E4,000,0051E,189,80,80,7D,FF
2021-08-14T15:29:20.889Z,1628954960.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:20.889Z,1628954960.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:20.891Z,1628954960.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:21.301Z,1628954961.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:21.705Z,1628954961.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004FF,18A,80,80,28,FF
2021-08-14T15:29:21.706Z,1628954961.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:22.145Z,1628954962.145 [Micromodem](INFO): Nmea in: $SNTTA,0.038879,,,,152922.65*41

2021-08-14T15:29:22.179Z,1628954962.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 181.395098 deg, deltaT: 4.546103 s, approachRate: -0.409141 m/s, LOS rate: -0.187758 deg/s, posRepo size: 4
2021-08-14T15:29:22.548Z,1628954962.548 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:29:22.548Z,1628954962.548 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:29:22.548Z,1628954962.548 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:29:22.549Z,1628954962.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:29:22.549Z,1628954962.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:29:22.549Z,1628954962.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:29:22.954Z,1628954962.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:29:22.954Z,1628954962.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:29:22.954Z,1628954962.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:29:22.955Z,1628954962.955 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:29:24.569Z,1628954964.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:24.929Z,1628954964.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:24.929Z,1628954964.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:24.929Z,1628954964.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:24.930Z,1628954964.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:25.342Z,1628954965.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004FF,18A,80,80,28,FF
2021-08-14T15:29:25.342Z,1628954965.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:25.342Z,1628954965.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:25.344Z,1628954965.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:25.741Z,1628954965.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:26.150Z,1628954966.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004E5,189,80,80,B4,FF
2021-08-14T15:29:26.150Z,1628954966.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:26.170Z,1628954966.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:26.601Z,1628954966.601 [Micromodem](INFO): Nmea in: $SNTTA,0.043236,,,,152927.11*4A

2021-08-14T15:29:26.639Z,1628954966.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 181.710257 deg, deltaT: 4.350447 s, approachRate: -0.358584 m/s, LOS rate: 0.072443 deg/s, posRepo size: 4
2021-08-14T15:29:29.020Z,1628954969.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:29.381Z,1628954969.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:29.381Z,1628954969.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:29.382Z,1628954969.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:29.383Z,1628954969.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:29.792Z,1628954969.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004E5,189,80,80,B4,FF
2021-08-14T15:29:29.792Z,1628954969.792 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:29.792Z,1628954969.792 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:29.794Z,1628954969.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:30.197Z,1628954970.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:30.605Z,1628954970.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004CB,189,80,80,A1,FF
2021-08-14T15:29:30.606Z,1628954970.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:30.657Z,1628954970.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:31.037Z,1628954971.037 [Micromodem](INFO): Nmea in: $SNTTA,0.053181,,,,152931.56*40

2021-08-14T15:29:31.071Z,1628954971.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 182.005553 deg, deltaT: 4.487395 s, approachRate: -0.347641 m/s, LOS rate: 0.065806 deg/s, posRepo size: 4
2021-08-14T15:29:33.487Z,1628954973.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:33.829Z,1628954973.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:33.829Z,1628954973.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:33.829Z,1628954973.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:33.830Z,1628954973.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:34.241Z,1628954974.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004CB,189,80,80,A1,FF
2021-08-14T15:29:34.241Z,1628954974.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:34.241Z,1628954974.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:34.243Z,1628954974.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:34.640Z,1628954974.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:35.041Z,1628954975.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004B7,189,80,80,9B,FF
2021-08-14T15:29:35.042Z,1628954975.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:35.111Z,1628954975.111 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:35.513Z,1628954975.513 [Micromodem](INFO): Nmea in: $SNTTA,,0.067712,,,152936.01*4E

2021-08-14T15:29:35.602Z,1628954975.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 182.198902 deg, deltaT: 4.453346 s, approachRate: -0.269460 m/s, LOS rate: 0.043417 deg/s, posRepo size: 4
2021-08-14T15:29:37.917Z,1628954977.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:38.280Z,1628954978.280 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:38.280Z,1628954978.280 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:38.280Z,1628954978.280 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:38.281Z,1628954978.281 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:38.678Z,1628954978.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004B7,189,80,80,9B,FF
2021-08-14T15:29:38.678Z,1628954978.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:38.678Z,1628954978.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:38.681Z,1628954978.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:39.085Z,1628954979.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:39.497Z,1628954979.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,004A4,189,80,80,A2,FF
2021-08-14T15:29:39.497Z,1628954979.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:39.620Z,1628954979.620 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:39.925Z,1628954979.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152940.45*54

2021-08-14T15:29:39.972Z,1628954979.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.779999 m, bearing: 284.870934 deg, deltaT: 4.508834 s, approachRate: -0.252838 m/s, LOS rate: 22.771304 deg/s, posRepo size: 4
2021-08-14T15:29:42.335Z,1628954982.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:42.733Z,1628954982.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:42.733Z,1628954982.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:42.733Z,1628954982.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:42.734Z,1628954982.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:43.130Z,1628954983.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFE,000,004A4,189,80,80,A2,FF
2021-08-14T15:29:43.130Z,1628954983.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:43.130Z,1628954983.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:43.133Z,1628954983.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:43.545Z,1628954983.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:43.937Z,1628954983.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,00490,18A,80,80,B8,FF
2021-08-14T15:29:43.937Z,1628954983.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:43.941Z,1628954983.941 [Micromodem](INFO): Nmea in: $SNTTA,0.139530,0.139555,,,152944.90*5B

2021-08-14T15:29:43.959Z,1628954983.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:44.370Z,1628954984.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 282.113259 deg, deltaT: 4.339856 s, approachRate: -0.276506 m/s, LOS rate: -0.635430 deg/s, posRepo size: 4
2021-08-14T15:29:46.786Z,1628954986.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:47.169Z,1628954987.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:47.169Z,1628954987.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:47.169Z,1628954987.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:47.170Z,1628954987.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:47.609Z,1628954987.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,00490,18A,80,80,B8,FF
2021-08-14T15:29:47.609Z,1628954987.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:47.609Z,1628954987.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:47.611Z,1628954987.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:48.004Z,1628954988.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:48.401Z,1628954988.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,00487,189,80,80,6C,FF
2021-08-14T15:29:48.401Z,1628954988.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:48.447Z,1628954988.447 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:29:48.475Z,1628954988.475 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:48.829Z,1628954988.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152949.37*58

2021-08-14T15:29:48.865Z,1628954988.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 283.182430 deg, deltaT: 4.523960 s, approachRate: -0.119365 m/s, LOS rate: 0.236335 deg/s, posRepo size: 4
2021-08-14T15:29:51.263Z,1628954991.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:51.633Z,1628954991.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:51.633Z,1628954991.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:51.633Z,1628954991.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:51.634Z,1628954991.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:52.041Z,1628954992.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,00487,189,80,80,6C,FF
2021-08-14T15:29:52.041Z,1628954992.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:52.041Z,1628954992.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:52.043Z,1628954992.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:52.466Z,1628954992.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:52.845Z,1628954992.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E4,000,0047D,189,80,80,89,FF
2021-08-14T15:29:52.846Z,1628954992.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:52.865Z,1628954992.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:53.294Z,1628954993.294 [Micromodem](INFO): Nmea in: $SNTTA,0.044746,,,,152953.81*45

2021-08-14T15:29:53.313Z,1628954993.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 196.945800 deg, deltaT: 4.381706 s, approachRate: -0.136933 m/s, LOS rate: -19.681062 deg/s, posRepo size: 4
2021-08-14T15:29:55.733Z,1628954995.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:29:56.077Z,1628954996.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:29:56.078Z,1628954996.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:29:56.078Z,1628954996.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:29:56.079Z,1628954996.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:29:56.493Z,1628954996.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E4,000,0047D,189,80,80,89,FF
2021-08-14T15:29:56.493Z,1628954996.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:29:56.493Z,1628954996.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:29:56.495Z,1628954996.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:29:56.893Z,1628954996.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:29:57.290Z,1628954997.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E1,000,0047A,189,80,80,81,FF
2021-08-14T15:29:57.290Z,1628954997.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:29:57.314Z,1628954997.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:29:57.741Z,1628954997.741 [Micromodem](INFO): Nmea in: $SNTTA,0.050871,,,,152958.26*4D

2021-08-14T15:29:57.803Z,1628954997.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 184.462509 deg, deltaT: 4.449016 s, approachRate: -0.040459 m/s, LOS rate: -2.805854 deg/s, posRepo size: 4
2021-08-14T15:29:59.822Z,1628954999.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:00.129Z,1628955000.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:00.129Z,1628955000.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:00.129Z,1628955000.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:00.130Z,1628955000.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:00.533Z,1628955000.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E1,000,0047A,189,80,80,81,FF
2021-08-14T15:30:00.533Z,1628955000.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:00.533Z,1628955000.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:00.535Z,1628955000.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:00.954Z,1628955000.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:01.344Z,1628955001.344 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0047B,189,80,80,64,FF
2021-08-14T15:30:01.345Z,1628955001.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:01.393Z,1628955001.393 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:01.786Z,1628955001.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153002.30*58

2021-08-14T15:30:01.851Z,1628955001.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 182.765316 deg, deltaT: 4.078852 s, approachRate: 0.014711 m/s, LOS rate: -0.416096 deg/s, posRepo size: 4
2021-08-14T15:30:04.202Z,1628955004.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:04.581Z,1628955004.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:04.581Z,1628955004.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:04.581Z,1628955004.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:04.582Z,1628955004.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:04.985Z,1628955004.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0047B,189,80,80,64,FF
2021-08-14T15:30:04.985Z,1628955004.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:04.985Z,1628955004.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:04.987Z,1628955004.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:05.393Z,1628955005.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:05.800Z,1628955005.800 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00480,183,80,80,46,FF
2021-08-14T15:30:05.801Z,1628955005.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:05.874Z,1628955005.874 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:06.233Z,1628955006.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153006.75*5D

2021-08-14T15:30:06.255Z,1628955006.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 247.439613 deg, deltaT: 4.481173 s, approachRate: 0.066947 m/s, LOS rate: 14.432448 deg/s, posRepo size: 4
2021-08-14T15:30:08.654Z,1628955008.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:09.036Z,1628955009.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:09.036Z,1628955009.036 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:09.037Z,1628955009.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:09.038Z,1628955009.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:09.433Z,1628955009.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00480,183,80,80,46,FF
2021-08-14T15:30:09.433Z,1628955009.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:09.433Z,1628955009.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:09.439Z,1628955009.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:09.832Z,1628955009.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:10.234Z,1628955010.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00488,185,80,80,A1,FF
2021-08-14T15:30:10.234Z,1628955010.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:10.258Z,1628955010.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:10.674Z,1628955010.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153011.20*5B

2021-08-14T15:30:10.725Z,1628955010.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 244.868839 deg, deltaT: 4.383963 s, approachRate: 0.109489 m/s, LOS rate: -0.586404 deg/s, posRepo size: 4
2021-08-14T15:30:13.098Z,1628955013.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:13.497Z,1628955013.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:13.497Z,1628955013.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:13.497Z,1628955013.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:13.498Z,1628955013.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:13.881Z,1628955013.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00488,185,80,80,A1,FF
2021-08-14T15:30:13.881Z,1628955013.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:13.881Z,1628955013.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:13.883Z,1628955013.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:14.286Z,1628955014.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:14.682Z,1628955014.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37B,000,00496,189,80,80,63,FF
2021-08-14T15:30:14.683Z,1628955014.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:14.765Z,1628955014.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:15.105Z,1628955015.105 [Micromodem](INFO): Nmea in: $SNTTA,0.039027,,,,153015.65*4F

2021-08-14T15:30:15.140Z,1628955015.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 203.525471 deg, deltaT: 4.506435 s, approachRate: 0.186400 m/s, LOS rate: -9.174296 deg/s, posRepo size: 4
2021-08-14T15:30:17.589Z,1628955017.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:17.910Z,1628955017.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:17.910Z,1628955017.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:17.910Z,1628955017.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:17.912Z,1628955017.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:18.318Z,1628955018.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37B,000,00496,189,80,80,63,FF
2021-08-14T15:30:18.318Z,1628955018.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:18.319Z,1628955018.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:18.320Z,1628955018.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:18.739Z,1628955018.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:19.117Z,1628955019.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,004AA,187,80,80,8F,FF
2021-08-14T15:30:19.118Z,1628955019.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:19.170Z,1628955019.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:19.593Z,1628955019.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153020.08*53

2021-08-14T15:30:19.679Z,1628955019.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 221.116719 deg, deltaT: 4.405228 s, approachRate: 0.272403 m/s, LOS rate: 3.993266 deg/s, posRepo size: 4
2021-08-14T15:30:21.688Z,1628955021.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:21.962Z,1628955021.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:21.962Z,1628955021.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:21.962Z,1628955021.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:21.963Z,1628955021.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:22.349Z,1628955022.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,004AA,187,80,80,8F,FF
2021-08-14T15:30:22.349Z,1628955022.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:22.349Z,1628955022.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:22.351Z,1628955022.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:22.785Z,1628955022.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:23.161Z,1628955023.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,004BF,186,80,80,89,FF
2021-08-14T15:30:23.161Z,1628955023.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:23.181Z,1628955023.181 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:23.629Z,1628955023.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153024.11*5F

2021-08-14T15:30:23.723Z,1628955023.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 223.112992 deg, deltaT: 4.011301 s, approachRate: 0.314113 m/s, LOS rate: 0.497662 deg/s, posRepo size: 4
2021-08-14T15:30:25.696Z,1628955025.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:25.993Z,1628955025.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:25.994Z,1628955025.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:25.994Z,1628955025.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:25.995Z,1628955025.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:26.398Z,1628955026.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,004BF,186,80,80,89,FF
2021-08-14T15:30:26.399Z,1628955026.399 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:26.400Z,1628955026.400 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:26.404Z,1628955026.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:26.807Z,1628955026.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:27.202Z,1628955027.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,004DF,189,80,80,9C,FF
2021-08-14T15:30:27.202Z,1628955027.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:27.222Z,1628955027.222 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:27.656Z,1628955027.656 [Micromodem](INFO): Nmea in: $SNTTA,0.047320,,,,153028.17*49

2021-08-14T15:30:27.752Z,1628955027.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 214.602112 deg, deltaT: 4.041099 s, approachRate: 0.475120 m/s, LOS rate: -2.106081 deg/s, posRepo size: 4
2021-08-14T15:30:30.087Z,1628955030.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:30.436Z,1628955030.436 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:30.437Z,1628955030.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:30.437Z,1628955030.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:30.439Z,1628955030.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:30.837Z,1628955030.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,004DF,189,80,80,9C,FF
2021-08-14T15:30:30.837Z,1628955030.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:30.838Z,1628955030.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:30.872Z,1628955030.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:31.277Z,1628955031.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:31.673Z,1628955031.673 [Micromodem](INFO): Nmea in: $SNTTA,0.167670,0.167739,,,153032.76*55

2021-08-14T15:30:32.877Z,1628955032.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,03628,188,80,80,9D,FF
2021-08-14T15:30:32.877Z,1628955032.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:32.897Z,1628955032.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:30:33.368Z,1628955033.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 794.340027 m, bearing: 212.761909 deg, deltaT: 5.674650 s, approachRate: 133.403824 m/s, LOS rate: -0.324285 deg/s, posRepo size: 4
2021-08-14T15:30:33.369Z,1628955033.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 794.34 m. Resuming terminal guidance.
2021-08-14T15:30:33.369Z,1628955033.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:30:33.756Z,1628955033.756 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:30:33.757Z,1628955033.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:30:33.757Z,1628955033.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:30:33.757Z,1628955033.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:30:33.758Z,1628955033.758 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:30:33.758Z,1628955033.758 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:30:34.157Z,1628955034.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:30:34.157Z,1628955034.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:30:34.157Z,1628955034.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:30:34.157Z,1628955034.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:30:35.836Z,1628955035.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:36.120Z,1628955036.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:36.120Z,1628955036.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:36.121Z,1628955036.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:36.122Z,1628955036.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:36.513Z,1628955036.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,03628,188,80,80,9D,FF
2021-08-14T15:30:36.513Z,1628955036.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:36.513Z,1628955036.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:36.515Z,1628955036.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:36.921Z,1628955036.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:37.321Z,1628955037.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00519,189,80,80,91,FF
2021-08-14T15:30:37.321Z,1628955037.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:37.777Z,1628955037.777 [Micromodem](INFO): Nmea in: $SNTTA,,0.448339,,,153038.28*47

2021-08-14T15:30:37.834Z,1628955037.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 214.302554 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:30:37.835Z,1628955037.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 214.302554deg and heading rate command to 0 deg/s.
2021-08-14T15:30:40.175Z,1628955040.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:40.568Z,1628955040.568 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:40.568Z,1628955040.568 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:40.568Z,1628955040.568 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:40.569Z,1628955040.569 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:40.961Z,1628955040.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00519,189,80,80,91,FF
2021-08-14T15:30:40.961Z,1628955040.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:40.961Z,1628955040.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:40.963Z,1628955040.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:41.365Z,1628955041.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:41.765Z,1628955041.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,399,000,0053D,189,80,80,A1,FF
2021-08-14T15:30:41.766Z,1628955041.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:42.216Z,1628955042.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153042.73*5B

2021-08-14T15:30:42.241Z,1628955042.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 198.757562 deg, deltaT: 4.491098 s, approachRate: 0.480951 m/s, LOS rate: -3.461290 deg/s, posRepo size: 2
2021-08-14T15:30:42.245Z,1628955042.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 198.757562 deg,
      approachRate: 0.480951 m/s,
      LOS rate: -3.461290 deg/s,
      cmd update: -10.383869 deg/s,
      cmd heading: 214.302554 deg,
      new cmd heading: 214.302554 deg.

2021-08-14T15:30:44.656Z,1628955044.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:45.001Z,1628955045.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:45.002Z,1628955045.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:45.002Z,1628955045.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:45.003Z,1628955045.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:45.403Z,1628955045.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
399,000,0053D,189,80,80,A1,FF
2021-08-14T15:30:45.403Z,1628955045.403 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:45.403Z,1628955045.403 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:45.442Z,1628955045.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:45.882Z,1628955045.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:46.290Z,1628955046.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,0055C,188,80,80,6C,FF
2021-08-14T15:30:46.290Z,1628955046.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:46.706Z,1628955046.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153047.21*59

2021-08-14T15:30:46.733Z,1628955046.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 200.281842 deg, deltaT: 4.454605 s, approachRate: 0.417546 m/s, LOS rate: 0.342181 deg/s, posRepo size: 3
2021-08-14T15:30:46.735Z,1628955046.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.820000 m,
      bearing: 200.281842 deg,
      approachRate: 0.417546 m/s,
      LOS rate: 0.342181 deg/s,
      cmd update: 1.026542 deg/s,
      cmd heading: 168.112653 deg,
      new cmd heading: 163.792289 deg.

2021-08-14T15:30:49.129Z,1628955049.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:49.547Z,1628955049.547 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:49.547Z,1628955049.547 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:49.554Z,1628955049.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:49.556Z,1628955049.556 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:49.913Z,1628955049.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,0055C,188,80,80,6C,FF
2021-08-14T15:30:49.913Z,1628955049.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:49.913Z,1628955049.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:49.915Z,1628955049.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:50.327Z,1628955050.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:50.734Z,1628955050.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,00569,186,80,80,97,FF
2021-08-14T15:30:50.734Z,1628955050.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:30:51.170Z,1628955051.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153051.68*53

2021-08-14T15:30:51.216Z,1628955051.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 190.810965 deg, deltaT: 4.438672 s, approachRate: 0.175728 m/s, LOS rate: -2.133719 deg/s, posRepo size: 4
2021-08-14T15:30:51.218Z,1628955051.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.599998 m,
      bearing: 190.810965 deg,
      approachRate: 0.175728 m/s,
      LOS rate: -2.133719 deg/s,
      cmd update: -6.401156 deg/s,
      cmd heading: 172.674860 deg,
      new cmd heading: 173.142222 deg.

2021-08-14T15:30:53.705Z,1628955053.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:53.961Z,1628955053.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:53.961Z,1628955053.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:53.961Z,1628955053.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:53.962Z,1628955053.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:30:54.368Z,1628955054.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,00569,186,80,80,97,FF
2021-08-14T15:30:54.368Z,1628955054.368 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:30:54.369Z,1628955054.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:30:54.370Z,1628955054.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:30:54.765Z,1628955054.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:30:55.610Z,1628955055.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153056.14*5F

2021-08-14T15:30:56.407Z,1628955056.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:57.993Z,1628955057.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,97,FF
2021-08-14T15:30:57.993Z,1628955057.993 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,97,FF
2021-08-14T15:30:57.993Z,1628955057.993 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:30:59.238Z,1628955059.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:30:59.613Z,1628955059.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:30:59.613Z,1628955059.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:30:59.613Z,1628955059.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:30:59.614Z,1628955059.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:00.013Z,1628955060.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,97,FF
2021-08-14T15:31:00.013Z,1628955060.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:00.013Z,1628955060.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:00.015Z,1628955060.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:00.430Z,1628955060.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:00.825Z,1628955060.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0056F,188,80,80,86,FF
2021-08-14T15:31:00.825Z,1628955060.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:01.257Z,1628955061.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153101.78*56

2021-08-14T15:31:01.295Z,1628955061.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 114.656951 deg, deltaT: 10.080879 s, approachRate: 0.035711 m/s, LOS rate: -7.554303 deg/s, posRepo size: 4
2021-08-14T15:31:01.297Z,1628955061.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.959999 m,
      bearing: 114.656951 deg,
      approachRate: 0.035711 m/s,
      LOS rate: -7.554303 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 108.140300 deg,
      new cmd heading: 105.244949 deg.

2021-08-14T15:31:03.716Z,1628955063.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:04.053Z,1628955064.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:04.053Z,1628955064.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:04.053Z,1628955064.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:04.054Z,1628955064.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:04.477Z,1628955064.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0056F,188,80,80,86,FF
2021-08-14T15:31:04.477Z,1628955064.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:04.478Z,1628955064.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:04.479Z,1628955064.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:04.869Z,1628955064.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:05.273Z,1628955065.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0055B,18A,80,80,BB,FF
2021-08-14T15:31:05.273Z,1628955065.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:05.761Z,1628955065.761 [Micromodem](INFO): Nmea in: $SNTTA,0.465393,0.467081,,,153106.24*5A

2021-08-14T15:31:05.882Z,1628955065.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 98.829286 deg, deltaT: 4.469188 s, approachRate: -0.268505 m/s, LOS rate: -3.541508 deg/s, posRepo size: 4
2021-08-14T15:31:05.884Z,1628955065.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.759998 m,
      bearing: 98.829286 deg,
      approachRate: -0.268505 m/s,
      LOS rate: -3.541508 deg/s,
      cmd update: -10.624525 deg/s,
      cmd heading: 54.558211 deg,
      new cmd heading: 47.672155 deg.

2021-08-14T15:31:08.135Z,1628955068.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:08.509Z,1628955068.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:08.509Z,1628955068.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:08.509Z,1628955068.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:08.510Z,1628955068.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:08.905Z,1628955068.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0055B,18A,80,80,BB,FF
2021-08-14T15:31:08.905Z,1628955068.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:08.905Z,1628955068.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:08.907Z,1628955068.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:09.312Z,1628955069.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:10.134Z,1628955070.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153110.67*58

2021-08-14T15:31:10.939Z,1628955070.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:12.541Z,1628955072.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,18A,80,80,BB,FF
2021-08-14T15:31:12.541Z,1628955072.541 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,18A,80,80,BB,FF
2021-08-14T15:31:12.541Z,1628955072.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:31:13.805Z,1628955073.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:14.157Z,1628955074.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:14.157Z,1628955074.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:14.158Z,1628955074.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:14.159Z,1628955074.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:14.562Z,1628955074.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,18A,80,80,BB,FF
2021-08-14T15:31:14.562Z,1628955074.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:14.562Z,1628955074.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:14.564Z,1628955074.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:14.964Z,1628955074.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:15.369Z,1628955075.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,00515,189,80,80,95,FF
2021-08-14T15:31:15.369Z,1628955075.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:15.801Z,1628955075.801 [Micromodem](INFO): Nmea in: $SNTTA,0.061908,,,,153116.33*47

2021-08-14T15:31:15.858Z,1628955075.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 87.426674 deg, deltaT: 10.075428 s, approachRate: -0.416856 m/s, LOS rate: -1.131725 deg/s, posRepo size: 4
2021-08-14T15:31:15.877Z,1628955075.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.559998 m,
      bearing: 87.426674 deg,
      approachRate: -0.416856 m/s,
      LOS rate: -1.131725 deg/s,
      cmd update: -3.395174 deg/s,
      cmd heading: 307.469290 deg,
      new cmd heading: 302.461771 deg.

2021-08-14T15:31:18.215Z,1628955078.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:18.601Z,1628955078.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:18.601Z,1628955078.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:18.602Z,1628955078.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:18.603Z,1628955078.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:19.001Z,1628955079.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,00515,189,80,80,95,FF
2021-08-14T15:31:19.001Z,1628955079.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:19.002Z,1628955079.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:19.003Z,1628955079.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:19.408Z,1628955079.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:19.817Z,1628955079.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,004E0,185,80,80,66,FF
2021-08-14T15:31:19.817Z,1628955079.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:20.241Z,1628955080.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153120.77*5A

2021-08-14T15:31:20.290Z,1628955080.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.380001 m, bearing: 90.726359 deg, deltaT: 4.521082 s, approachRate: -0.703371 m/s, LOS rate: 0.729844 deg/s, posRepo size: 4
2021-08-14T15:31:20.291Z,1628955080.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m.
2021-08-14T15:31:20.293Z,1628955080.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.380001 m,
      bearing: 90.726359 deg,
      approachRate: -0.703371 m/s,
      LOS rate: 0.729844 deg/s,
      cmd update: 2.189532 deg/s,
      cmd heading: 292.159593 deg,
      new cmd heading: 290.831241 deg.

2021-08-14T15:31:20.687Z,1628955080.687 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:31:20.726Z,1628955080.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:31:20.726Z,1628955080.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:31:20.727Z,1628955080.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:31:20.727Z,1628955080.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:31:20.727Z,1628955080.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:31:20.727Z,1628955080.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:31:21.081Z,1628955081.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:31:21.081Z,1628955081.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:31:21.082Z,1628955081.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:31:21.082Z,1628955081.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:31:22.704Z,1628955082.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:23.077Z,1628955083.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:23.077Z,1628955083.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:23.077Z,1628955083.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:23.078Z,1628955083.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:23.469Z,1628955083.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,004E0,185,80,80,66,FF
2021-08-14T15:31:23.469Z,1628955083.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:23.469Z,1628955083.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:23.471Z,1628955083.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:23.857Z,1628955083.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:24.257Z,1628955084.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,004B2,185,80,80,6F,FF
2021-08-14T15:31:24.257Z,1628955084.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:24.278Z,1628955084.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:24.674Z,1628955084.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153125.24*59

2021-08-14T15:31:24.727Z,1628955084.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 90.362556 deg, deltaT: 4.366802 s, approachRate: -0.632041 m/s, LOS rate: -0.083311 deg/s, posRepo size: 4
2021-08-14T15:31:24.727Z,1628955084.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m.
2021-08-14T15:31:24.734Z,1628955084.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.620003 m,
      bearing: 90.362556 deg,
      approachRate: -0.632041 m/s,
      LOS rate: -0.083311 deg/s,
      cmd update: -0.249933 deg/s,
      cmd heading: 301.745851 deg,
      new cmd heading: 302.735898 deg.

2021-08-14T15:31:27.103Z,1628955087.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:27.504Z,1628955087.504 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:27.504Z,1628955087.504 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:27.505Z,1628955087.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:27.506Z,1628955087.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:27.898Z,1628955087.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,004B2,185,80,80,6F,FF
2021-08-14T15:31:27.898Z,1628955087.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:27.898Z,1628955087.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:27.900Z,1628955087.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:28.301Z,1628955088.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:28.701Z,1628955088.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E64,000,0048C,185,80,80,73,FF
2021-08-14T15:31:28.701Z,1628955088.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:28.761Z,1628955088.761 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:29.161Z,1628955089.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153129.66*53

2021-08-14T15:31:29.184Z,1628955089.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 93.154266 deg, deltaT: 4.483665 s, approachRate: -0.508513 m/s, LOS rate: 0.622640 deg/s, posRepo size: 4
2021-08-14T15:31:29.184Z,1628955089.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.34 m.
2021-08-14T15:31:29.186Z,1628955089.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 93.154266 deg,
      approachRate: -0.508513 m/s,
      LOS rate: 0.622640 deg/s,
      cmd update: 1.867921 deg/s,
      cmd heading: 300.626279 deg,
      new cmd heading: 300.518934 deg.

2021-08-14T15:31:31.593Z,1628955091.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:31.929Z,1628955091.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:31.929Z,1628955091.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:31.929Z,1628955091.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:31.930Z,1628955091.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:32.341Z,1628955092.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E64,000,0048C,185,80,80,73,FF
2021-08-14T15:31:32.341Z,1628955092.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:32.342Z,1628955092.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:32.343Z,1628955092.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:32.749Z,1628955092.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:33.165Z,1628955093.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,00458,18A,80,80,5F,FF
2021-08-14T15:31:33.166Z,1628955093.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:33.213Z,1628955093.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:33.601Z,1628955093.601 [Micromodem](INFO): Nmea in: $SNTTA,0.021919,,,,153134.11*43

2021-08-14T15:31:33.695Z,1628955093.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 94.684221 deg, deltaT: 4.452011 s, approachRate: -0.700807 m/s, LOS rate: 0.343655 deg/s, posRepo size: 4
2021-08-14T15:31:33.695Z,1628955093.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m.
2021-08-14T15:31:33.695Z,1628955093.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.22 m.
2021-08-14T15:31:33.700Z,1628955093.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:31:33.702Z,1628955093.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 94.684221 deg,
      approachRate: -0.700807 m/s,
      LOS rate: 0.343655 deg/s,
      cmd update: 1.030965 deg/s,
      cmd heading: 308.942768 deg,
      new cmd heading: 309.854741 deg.

2021-08-14T15:31:35.714Z,1628955095.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:35.969Z,1628955095.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:35.969Z,1628955095.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:35.969Z,1628955095.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:35.970Z,1628955095.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:36.373Z,1628955096.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,00458,18A,80,80,5F,FF
2021-08-14T15:31:36.373Z,1628955096.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:36.373Z,1628955096.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:36.375Z,1628955096.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:36.792Z,1628955096.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:37.181Z,1628955097.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF4,000,00438,189,80,80,57,FF
2021-08-14T15:31:37.182Z,1628955097.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:37.225Z,1628955097.225 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:37.631Z,1628955097.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153138.14*56

2021-08-14T15:31:37.713Z,1628955097.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 93.548921 deg, deltaT: 4.012292 s, approachRate: -0.478529 m/s, LOS rate: -0.282956 deg/s, posRepo size: 4
2021-08-14T15:31:37.715Z,1628955097.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 93.548921 deg,
      approachRate: -0.478529 m/s,
      LOS rate: -0.282956 deg/s,
      cmd update: -0.848867 deg/s,
      cmd heading: 313.059044 deg,
      new cmd heading: 313.584668 deg.

2021-08-14T15:31:40.054Z,1628955100.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:40.421Z,1628955100.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:40.421Z,1628955100.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:40.422Z,1628955100.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:40.424Z,1628955100.424 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:40.826Z,1628955100.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF4,000,00438,189,80,80,57,FF
2021-08-14T15:31:40.826Z,1628955100.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:40.826Z,1628955100.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:40.829Z,1628955100.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:41.227Z,1628955101.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:41.625Z,1628955101.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00420,189,80,80,7A,FF
2021-08-14T15:31:41.625Z,1628955101.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:41.719Z,1628955101.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:42.101Z,1628955102.101 [Micromodem](INFO): Nmea in: $SNTTA,0.035662,,,,153142.59*48

2021-08-14T15:31:42.124Z,1628955102.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 89.364057 deg, deltaT: 4.497882 s, approachRate: -0.320151 m/s, LOS rate: -0.930408 deg/s, posRepo size: 4
2021-08-14T15:31:42.126Z,1628955102.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 89.364057 deg,
      approachRate: -0.320151 m/s,
      LOS rate: -0.930408 deg/s,
      cmd update: -2.791223 deg/s,
      cmd heading: 309.227794 deg,
      new cmd heading: 308.878559 deg.

2021-08-14T15:31:44.528Z,1628955104.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:44.866Z,1628955104.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:44.866Z,1628955104.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:44.866Z,1628955104.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:44.867Z,1628955104.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:45.262Z,1628955105.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00420,189,80,80,7A,FF
2021-08-14T15:31:45.262Z,1628955105.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:45.262Z,1628955105.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:45.263Z,1628955105.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:45.675Z,1628955105.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:46.078Z,1628955106.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,0041C,187,80,80,3C,FF
2021-08-14T15:31:46.078Z,1628955106.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:46.103Z,1628955106.103 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:46.513Z,1628955106.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153147.03*58

2021-08-14T15:31:46.572Z,1628955106.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 31.927388 deg, deltaT: 4.379057 s, approachRate: -0.054807 m/s, LOS rate: -13.116220 deg/s, posRepo size: 4
2021-08-14T15:31:46.573Z,1628955106.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.116220 deg/s. Setting heading cmd to target bearing of 31.927388deg and heading rate command to 0 deg/s.
2021-08-14T15:31:48.927Z,1628955108.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:49.309Z,1628955109.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:49.309Z,1628955109.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:49.310Z,1628955109.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:49.311Z,1628955109.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:49.713Z,1628955109.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,0041C,187,80,80,3C,FF
2021-08-14T15:31:49.713Z,1628955109.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:49.713Z,1628955109.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:49.715Z,1628955109.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:50.113Z,1628955110.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:50.521Z,1628955110.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C59,000,00425,189,80,80,45,FF
2021-08-14T15:31:50.522Z,1628955110.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:50.554Z,1628955110.554 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:50.957Z,1628955110.957 [Micromodem](INFO): Nmea in: $SNTTA,0.041923,,,,153151.48*43

2021-08-14T15:31:50.980Z,1628955110.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 35.021559 deg, deltaT: 4.451004 s, approachRate: 0.121322 m/s, LOS rate: 0.695163 deg/s, posRepo size: 4
2021-08-14T15:31:50.982Z,1628955110.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.160002 m,
      bearing: 35.021559 deg,
      approachRate: 0.121322 m/s,
      LOS rate: 0.695163 deg/s,
      cmd update: 2.085488 deg/s,
      cmd heading: 31.927388 deg,
      new cmd heading: 31.927388 deg.

2021-08-14T15:31:53.404Z,1628955113.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:53.753Z,1628955113.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:53.753Z,1628955113.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:53.753Z,1628955113.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:53.754Z,1628955113.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:54.149Z,1628955114.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C59,000,00425,189,80,80,45,FF
2021-08-14T15:31:54.149Z,1628955114.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:54.149Z,1628955114.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:54.151Z,1628955114.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:54.561Z,1628955114.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:54.957Z,1628955114.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,0043F,187,80,80,8C,FF
2021-08-14T15:31:54.957Z,1628955114.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:54.999Z,1628955114.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:55.409Z,1628955115.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153155.92*53

2021-08-14T15:31:55.477Z,1628955115.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 0.542817 deg, deltaT: 4.445435 s, approachRate: 0.350922 m/s, LOS rate: -7.755989 deg/s, posRepo size: 4
2021-08-14T15:31:55.488Z,1628955115.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.720001 m,
      bearing: 0.542817 deg,
      approachRate: 0.350922 m/s,
      LOS rate: -7.755989 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 41.159223 deg,
      new cmd heading: 42.192121 deg.

2021-08-14T15:31:57.870Z,1628955117.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:31:58.189Z,1628955118.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:31:58.189Z,1628955118.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:31:58.189Z,1628955118.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:31:58.190Z,1628955118.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:31:58.605Z,1628955118.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,0043F,187,80,80,8C,FF
2021-08-14T15:31:58.605Z,1628955118.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:31:58.605Z,1628955118.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:31:58.607Z,1628955118.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:31:59.057Z,1628955119.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:31:59.492Z,1628955119.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,0045C,187,80,80,2A,FF
2021-08-14T15:31:59.493Z,1628955119.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:31:59.610Z,1628955119.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:31:59.869Z,1628955119.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153200.37*5F

2021-08-14T15:31:59.930Z,1628955119.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 359.570610 deg, deltaT: 4.610836 s, approachRate: 0.377372 m/s, LOS rate: -0.210851 deg/s, posRepo size: 4
2021-08-14T15:31:59.932Z,1628955119.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.460001 m,
      bearing: 359.570610 deg,
      approachRate: 0.377372 m/s,
      LOS rate: -0.210851 deg/s,
      cmd update: -0.632553 deg/s,
      cmd heading: 345.652753 deg,
      new cmd heading: 341.742169 deg.

2021-08-14T15:32:02.295Z,1628955122.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:02.693Z,1628955122.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:02.693Z,1628955122.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:02.693Z,1628955122.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:02.694Z,1628955122.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:03.085Z,1628955123.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,0045C,187,80,80,2A,FF
2021-08-14T15:32:03.085Z,1628955123.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:03.085Z,1628955123.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:03.087Z,1628955123.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:03.521Z,1628955123.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:03.902Z,1628955123.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,0047A,187,80,80,7F,FF
2021-08-14T15:32:03.902Z,1628955123.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:03.942Z,1628955123.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:04.341Z,1628955124.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153204.85*52

2021-08-14T15:32:04.383Z,1628955124.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 12.167326 deg, deltaT: 4.332503 s, approachRate: 0.415464 m/s, LOS rate: 2.907492 deg/s, posRepo size: 4
2021-08-14T15:32:04.396Z,1628955124.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.259998 m,
      bearing: 12.167326 deg,
      approachRate: 0.415464 m/s,
      LOS rate: 2.907492 deg/s,
      cmd update: 8.722475 deg/s,
      cmd heading: 342.909774 deg,
      new cmd heading: 342.641131 deg.

2021-08-14T15:32:06.774Z,1628955126.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:07.133Z,1628955127.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:07.133Z,1628955127.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:07.133Z,1628955127.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:07.134Z,1628955127.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:07.576Z,1628955127.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,0047A,187,80,80,7F,FF
2021-08-14T15:32:07.577Z,1628955127.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:07.577Z,1628955127.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:07.578Z,1628955127.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:07.940Z,1628955127.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:08.345Z,1628955128.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00485,186,80,80,84,FF
2021-08-14T15:32:08.345Z,1628955128.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:08.418Z,1628955128.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:08.767Z,1628955128.767 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153209.35*54

2021-08-14T15:32:08.825Z,1628955128.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 19.643580 deg, deltaT: 4.476020 s, approachRate: 0.147453 m/s, LOS rate: 1.670290 deg/s, posRepo size: 4
2021-08-14T15:32:08.827Z,1628955128.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.920000 m,
      bearing: 19.643580 deg,
      approachRate: 0.147453 m/s,
      LOS rate: 1.670290 deg/s,
      cmd update: 5.010871 deg/s,
      cmd heading: 21.496469 deg,
      new cmd heading: 25.483015 deg.

2021-08-14T15:32:11.220Z,1628955131.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:11.605Z,1628955131.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:11.605Z,1628955131.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:11.605Z,1628955131.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:11.606Z,1628955131.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:11.973Z,1628955131.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00485,186,80,80,84,FF
2021-08-14T15:32:11.973Z,1628955131.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:11.973Z,1628955131.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:11.975Z,1628955131.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:12.402Z,1628955132.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:13.214Z,1628955133.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153213.74*5A

2021-08-14T15:32:13.644Z,1628955133.644 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:32:14.031Z,1628955134.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:15.630Z,1628955135.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,84,FF
2021-08-14T15:32:15.631Z,1628955135.631 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,84,FF
2021-08-14T15:32:15.631Z,1628955135.631 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:32:16.843Z,1628955136.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:17.238Z,1628955137.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:17.238Z,1628955137.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:17.238Z,1628955137.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:17.239Z,1628955137.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:17.637Z,1628955137.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,84,FF
2021-08-14T15:32:17.637Z,1628955137.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:17.637Z,1628955137.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:17.639Z,1628955137.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:18.073Z,1628955138.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:18.493Z,1628955138.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,004C4,189,80,80,92,FF
2021-08-14T15:32:18.493Z,1628955138.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:18.548Z,1628955138.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:18.898Z,1628955138.898 [Micromodem](INFO): Nmea in: $SNTTA,0.475152,,,,153219.40*49

2021-08-14T15:32:18.915Z,1628955138.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 53.132950 deg, deltaT: 10.129900 s, approachRate: 0.373152 m/s, LOS rate: 3.305992 deg/s, posRepo size: 4
2021-08-14T15:32:18.917Z,1628955138.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.699997 m,
      bearing: 53.132950 deg,
      approachRate: 0.373152 m/s,
      LOS rate: 3.305992 deg/s,
      cmd update: 9.917976 deg/s,
      cmd heading: 72.393939 deg,
      new cmd heading: 74.370988 deg.

2021-08-14T15:32:21.340Z,1628955141.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:21.697Z,1628955141.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:21.697Z,1628955141.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:21.697Z,1628955141.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:21.698Z,1628955141.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:22.094Z,1628955142.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,004C4,189,80,80,92,FF
2021-08-14T15:32:22.094Z,1628955142.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:22.094Z,1628955142.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:22.097Z,1628955142.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:22.500Z,1628955142.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:22.899Z,1628955142.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,004D0,18A,80,80,1A,FF
2021-08-14T15:32:22.900Z,1628955142.900 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:22.932Z,1628955142.932 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:23.361Z,1628955143.361 [Micromodem](INFO): Nmea in: $SNTTA,0.054915,,,,153223.86*46

2021-08-14T15:32:23.386Z,1628955143.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.419998 m, bearing: 73.146763 deg, deltaT: 4.383994 s, approachRate: 0.164234 m/s, LOS rate: 4.565201 deg/s, posRepo size: 4
2021-08-14T15:32:23.388Z,1628955143.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.419998 m,
      bearing: 73.146763 deg,
      approachRate: 0.164234 m/s,
      LOS rate: 4.565201 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.088574 deg,
      new cmd heading: 120.646519 deg.

2021-08-14T15:32:25.808Z,1628955145.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:26.147Z,1628955146.147 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:26.147Z,1628955146.147 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:26.147Z,1628955146.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:26.148Z,1628955146.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:26.537Z,1628955146.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,004D0,18A,80,80,1A,FF
2021-08-14T15:32:26.537Z,1628955146.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:26.537Z,1628955146.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:26.539Z,1628955146.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:26.944Z,1628955146.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:27.353Z,1628955147.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,004C9,189,80,80,71,FF
2021-08-14T15:32:27.354Z,1628955147.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:27.374Z,1628955147.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:27.794Z,1628955147.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153228.30*52

2021-08-14T15:32:27.869Z,1628955147.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 91.228125 deg, deltaT: 4.441845 s, approachRate: -0.094556 m/s, LOS rate: 4.070687 deg/s, posRepo size: 4
2021-08-14T15:32:27.871Z,1628955147.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.999996 m,
      bearing: 91.228125 deg,
      approachRate: -0.094556 m/s,
      LOS rate: 4.070687 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 169.429212 deg,
      new cmd heading: 175.400124 deg.

2021-08-14T15:32:28.583Z,1628955148.583 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:32:30.202Z,1628955150.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:30.577Z,1628955150.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:30.577Z,1628955150.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:30.577Z,1628955150.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:30.578Z,1628955150.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:31.047Z,1628955151.047 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,004C9,189,80,80,71,FF
2021-08-14T15:32:31.047Z,1628955151.047 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:31.047Z,1628955151.047 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:31.081Z,1628955151.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:31.401Z,1628955151.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:31.801Z,1628955151.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC5,000,004C6,189,80,80,A8,FF
2021-08-14T15:32:31.801Z,1628955151.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:31.905Z,1628955151.905 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:32.263Z,1628955152.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 113.965156 deg, deltaT: 4.530993 s, approachRate: -0.039726 m/s, LOS rate: 5.018112 deg/s, posRepo size: 4
2021-08-14T15:32:32.272Z,1628955152.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.820000 m,
      bearing: 113.965156 deg,
      approachRate: -0.039726 m/s,
      LOS rate: 5.018112 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 223.801094 deg,
      new cmd heading: 228.102566 deg.

2021-08-14T15:32:32.617Z,1628955152.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153232.85*57

2021-08-14T15:32:33.471Z,1628955153.471 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:32:34.669Z,1628955154.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:35.021Z,1628955155.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:35.021Z,1628955155.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:35.021Z,1628955155.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:35.022Z,1628955155.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:35.449Z,1628955155.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC5,000,004C6,189,80,80,A8,FF
2021-08-14T15:32:35.449Z,1628955155.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:35.449Z,1628955155.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:35.451Z,1628955155.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:35.845Z,1628955155.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:36.233Z,1628955156.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,004B6,189,80,80,92,FF
2021-08-14T15:32:36.233Z,1628955156.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:36.282Z,1628955156.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:36.658Z,1628955156.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153237.22*5F

2021-08-14T15:32:36.742Z,1628955156.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 65.814132 deg, deltaT: 4.376661 s, approachRate: -0.219346 m/s, LOS rate: -11.001772 deg/s, posRepo size: 4
2021-08-14T15:32:36.749Z,1628955156.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.859997 m,
      bearing: 65.814132 deg,
      approachRate: -0.219346 m/s,
      LOS rate: -11.001772 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 276.273339 deg,
      new cmd heading: 281.724495 deg.

2021-08-14T15:32:39.095Z,1628955159.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:39.469Z,1628955159.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:39.469Z,1628955159.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:39.469Z,1628955159.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:39.470Z,1628955159.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:39.884Z,1628955159.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,004B6,189,80,80,92,FF
2021-08-14T15:32:39.884Z,1628955159.884 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:39.885Z,1628955159.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:39.886Z,1628955159.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:40.276Z,1628955160.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:40.686Z,1628955160.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,0049C,189,80,80,B3,FF
2021-08-14T15:32:40.687Z,1628955160.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:40.708Z,1628955160.708 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:41.117Z,1628955161.117 [Micromodem](INFO): Nmea in: $SNTTA,0.043023,,,,153241.65*45

2021-08-14T15:32:41.157Z,1628955161.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 155.724338 deg, deltaT: 4.426256 s, approachRate: -0.352441 m/s, LOS rate: 20.312925 deg/s, posRepo size: 4
2021-08-14T15:32:41.158Z,1628955161.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.312925 deg/s. Setting heading cmd to target bearing of 155.724338deg and heading rate command to 0 deg/s.
2021-08-14T15:32:41.927Z,1628955161.927 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:32:43.625Z,1628955163.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:43.917Z,1628955163.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:43.917Z,1628955163.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:43.918Z,1628955163.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:43.918Z,1628955163.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:44.328Z,1628955164.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,0049C,189,80,80,B3,FF
2021-08-14T15:32:44.329Z,1628955164.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:44.329Z,1628955164.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:44.330Z,1628955164.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:44.729Z,1628955164.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:45.126Z,1628955165.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00482,187,80,80,A0,FF
2021-08-14T15:32:45.126Z,1628955165.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:45.155Z,1628955165.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:45.577Z,1628955165.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153246.10*58

2021-08-14T15:32:45.630Z,1628955165.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 157.758327 deg, deltaT: 4.447525 s, approachRate: -0.350757 m/s, LOS rate: 0.457331 deg/s, posRepo size: 4
2021-08-14T15:32:45.654Z,1628955165.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.740002 m,
      bearing: 157.758327 deg,
      approachRate: -0.350757 m/s,
      LOS rate: 0.457331 deg/s,
      cmd update: 1.371992 deg/s,
      cmd heading: 155.724338 deg,
      new cmd heading: 155.724338 deg.

2021-08-14T15:32:47.990Z,1628955167.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:48.353Z,1628955168.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:48.354Z,1628955168.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:48.354Z,1628955168.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:48.355Z,1628955168.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:48.765Z,1628955168.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00482,187,80,80,A0,FF
2021-08-14T15:32:48.765Z,1628955168.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:48.765Z,1628955168.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:48.767Z,1628955168.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:49.205Z,1628955169.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:49.609Z,1628955169.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,0045A,186,80,80,86,FF
2021-08-14T15:32:49.610Z,1628955169.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:49.649Z,1628955169.649 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:50.005Z,1628955170.005 [Micromodem](INFO): Nmea in: $SNTTA,0.100486,,,,153250.53*4D

2021-08-14T15:32:50.041Z,1628955170.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 160.486715 deg, deltaT: 4.493555 s, approachRate: -0.534099 m/s, LOS rate: 0.607178 deg/s, posRepo size: 4
2021-08-14T15:32:50.043Z,1628955170.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.340000 m,
      bearing: 160.486715 deg,
      approachRate: -0.534099 m/s,
      LOS rate: 0.607178 deg/s,
      cmd update: 1.821534 deg/s,
      cmd heading: 161.889977 deg,
      new cmd heading: 162.431748 deg.

2021-08-14T15:32:52.451Z,1628955172.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:52.794Z,1628955172.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:52.794Z,1628955172.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:52.794Z,1628955172.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:52.795Z,1628955172.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:53.197Z,1628955173.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,0045A,186,80,80,86,FF
2021-08-14T15:32:53.197Z,1628955173.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:53.198Z,1628955173.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:53.199Z,1628955173.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:53.616Z,1628955173.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:54.009Z,1628955174.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00425,185,80,80,76,FF
2021-08-14T15:32:54.010Z,1628955174.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:54.086Z,1628955174.086 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:54.473Z,1628955174.473 [Micromodem](INFO): Nmea in: $SNTTA,0.036419,,,,153254.97*43

2021-08-14T15:32:54.513Z,1628955174.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 170.438806 deg, deltaT: 4.437304 s, approachRate: -0.716651 m/s, LOS rate: 2.242824 deg/s, posRepo size: 4
2021-08-14T15:32:54.515Z,1628955174.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.160002 m,
      bearing: 170.438806 deg,
      approachRate: -0.716651 m/s,
      LOS rate: 2.242824 deg/s,
      cmd update: 6.728471 deg/s,
      cmd heading: 169.971919 deg,
      new cmd heading: 170.754337 deg.

2021-08-14T15:32:55.242Z,1628955175.242 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:32:56.874Z,1628955176.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:32:57.241Z,1628955177.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:32:57.241Z,1628955177.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:32:57.241Z,1628955177.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:32:57.242Z,1628955177.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:32:57.649Z,1628955177.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00425,185,80,80,76,FF
2021-08-14T15:32:57.649Z,1628955177.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:32:57.649Z,1628955177.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:32:57.656Z,1628955177.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:32:58.053Z,1628955178.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:32:58.489Z,1628955178.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CB,000,003F7,186,80,80,B5,FF
2021-08-14T15:32:58.489Z,1628955178.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:32:58.519Z,1628955178.519 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:32:58.885Z,1628955178.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153259.42*51

2021-08-14T15:32:58.925Z,1628955178.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 171.496583 deg, deltaT: 4.432998 s, approachRate: -0.622604 m/s, LOS rate: 0.238615 deg/s, posRepo size: 4
2021-08-14T15:32:58.927Z,1628955178.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.400002 m,
      bearing: 171.496583 deg,
      approachRate: -0.622604 m/s,
      LOS rate: 0.238615 deg/s,
      cmd update: 0.715844 deg/s,
      cmd heading: 199.800598 deg,
      new cmd heading: 202.548883 deg.

2021-08-14T15:33:01.319Z,1628955181.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:01.689Z,1628955181.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:01.689Z,1628955181.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:01.690Z,1628955181.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:01.690Z,1628955181.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:02.089Z,1628955182.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CB,000,003F7,186,80,80,B5,FF
2021-08-14T15:33:02.089Z,1628955182.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:02.089Z,1628955182.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:02.091Z,1628955182.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:02.518Z,1628955182.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:02.905Z,1628955182.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,003D7,189,80,80,6A,FF
2021-08-14T15:33:02.906Z,1628955182.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:02.961Z,1628955182.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:03.345Z,1628955183.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153303.86*57

2021-08-14T15:33:03.364Z,1628955183.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 166.357740 deg, deltaT: 4.441272 s, approachRate: -0.432309 m/s, LOS rate: -1.157066 deg/s, posRepo size: 4
2021-08-14T15:33:03.366Z,1628955183.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.480000 m,
      bearing: 166.357740 deg,
      approachRate: -0.432309 m/s,
      LOS rate: -1.157066 deg/s,
      cmd update: -3.471197 deg/s,
      cmd heading: 202.980023 deg,
      new cmd heading: 203.271001 deg.

2021-08-14T15:33:05.804Z,1628955185.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:06.125Z,1628955186.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:06.125Z,1628955186.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:06.126Z,1628955186.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:06.127Z,1628955186.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:06.553Z,1628955186.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,003D7,189,80,80,6A,FF
2021-08-14T15:33:06.553Z,1628955186.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:06.554Z,1628955186.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:06.572Z,1628955186.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:06.950Z,1628955186.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:07.341Z,1628955187.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D0,000,003A7,189,80,80,B3,FF
2021-08-14T15:33:07.341Z,1628955187.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:07.394Z,1628955187.394 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:07.765Z,1628955187.765 [Micromodem](INFO): Nmea in: $SNTTA,0.376685,0.376592,,,153308.34*50

2021-08-14T15:33:07.838Z,1628955187.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 162.755990 deg, deltaT: 4.433137 s, approachRate: -0.649653 m/s, LOS rate: -0.812461 deg/s, posRepo size: 4
2021-08-14T15:33:07.844Z,1628955187.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.599998 m,
      bearing: 162.755990 deg,
      approachRate: -0.649653 m/s,
      LOS rate: -0.812461 deg/s,
      cmd update: -2.437382 deg/s,
      cmd heading: 187.605773 deg,
      new cmd heading: 186.038972 deg.

2021-08-14T15:33:10.208Z,1628955190.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:10.613Z,1628955190.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:10.613Z,1628955190.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:10.614Z,1628955190.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:10.615Z,1628955190.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:10.985Z,1628955190.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D0,000,003A7,189,80,80,B3,FF
2021-08-14T15:33:10.985Z,1628955190.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:10.985Z,1628955190.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:10.987Z,1628955190.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:11.396Z,1628955191.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:11.785Z,1628955191.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E3,000,00385,188,80,80,AA,FF
2021-08-14T15:33:11.786Z,1628955191.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:11.869Z,1628955191.869 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:12.230Z,1628955192.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153312.76*58

2021-08-14T15:33:12.252Z,1628955192.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 152.195548 deg, deltaT: 4.475177 s, approachRate: -0.455848 m/s, LOS rate: -2.359782 deg/s, posRepo size: 4
2021-08-14T15:33:12.254Z,1628955192.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 152.195548 deg,
      approachRate: -0.455848 m/s,
      LOS rate: -2.359782 deg/s,
      cmd update: -7.079346 deg/s,
      cmd heading: 176.717426 deg,
      new cmd heading: 175.747906 deg.

2021-08-14T15:33:14.649Z,1628955194.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:15.029Z,1628955195.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:15.029Z,1628955195.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:15.030Z,1628955195.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:15.031Z,1628955195.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:15.421Z,1628955195.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E3,000,00385,188,80,80,AA,FF
2021-08-14T15:33:15.421Z,1628955195.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:15.421Z,1628955195.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:15.423Z,1628955195.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:15.837Z,1628955195.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:16.229Z,1628955196.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,0036D,189,80,80,58,FF
2021-08-14T15:33:16.230Z,1628955196.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:16.249Z,1628955196.249 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:16.674Z,1628955196.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153317.19*54

2021-08-14T15:33:16.722Z,1628955196.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.120001 m, bearing: 154.801825 deg, deltaT: 4.380177 s, approachRate: -0.328754 m/s, LOS rate: 0.595016 deg/s, posRepo size: 4
2021-08-14T15:33:16.724Z,1628955196.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.120001 m,
      bearing: 154.801825 deg,
      approachRate: -0.328754 m/s,
      LOS rate: 0.595016 deg/s,
      cmd update: 1.785049 deg/s,
      cmd heading: 145.623500 deg,
      new cmd heading: 142.257008 deg.

2021-08-14T15:33:19.083Z,1628955199.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:19.465Z,1628955199.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:19.465Z,1628955199.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:19.465Z,1628955199.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:19.466Z,1628955199.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:19.877Z,1628955199.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,0036D,189,80,80,58,FF
2021-08-14T15:33:19.877Z,1628955199.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:19.877Z,1628955199.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:19.879Z,1628955199.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:20.284Z,1628955200.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:20.678Z,1628955200.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,00338,186,80,80,65,FF
2021-08-14T15:33:20.678Z,1628955200.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:20.757Z,1628955200.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:21.114Z,1628955201.114 [Micromodem](INFO): Nmea in: $SNTTA,0.047265,,,,153321.65*46

2021-08-14T15:33:21.135Z,1628955201.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 154.810363 deg, deltaT: 4.507533 s, approachRate: -0.705486 m/s, LOS rate: 0.001894 deg/s, posRepo size: 4
2021-08-14T15:33:21.138Z,1628955201.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 154.810363 deg,
      approachRate: -0.705486 m/s,
      LOS rate: 0.001894 deg/s,
      cmd update: 0.005682 deg/s,
      cmd heading: 153.662465 deg,
      new cmd heading: 154.350907 deg.

2021-08-14T15:33:23.604Z,1628955203.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:23.909Z,1628955203.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:23.909Z,1628955203.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:23.909Z,1628955203.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:23.910Z,1628955203.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:24.309Z,1628955204.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,00338,186,80,80,65,FF
2021-08-14T15:33:24.309Z,1628955204.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:24.309Z,1628955204.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:24.311Z,1628955204.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:24.725Z,1628955204.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:25.125Z,1628955205.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00324,186,80,80,A0,FF
2021-08-14T15:33:25.126Z,1628955205.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:25.146Z,1628955205.146 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:25.605Z,1628955205.605 [Micromodem](INFO): Nmea in: $SNTTA,0.035644,,,,153326.08*48

2021-08-14T15:33:25.695Z,1628955205.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 150.120741 deg, deltaT: 4.389014 s, approachRate: -0.273411 m/s, LOS rate: -1.068491 deg/s, posRepo size: 4
2021-08-14T15:33:25.701Z,1628955205.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 150.120741 deg,
      approachRate: -0.273411 m/s,
      LOS rate: -1.068491 deg/s,
      cmd update: -3.205473 deg/s,
      cmd heading: 153.687427 deg,
      new cmd heading: 153.690565 deg.

2021-08-14T15:33:27.722Z,1628955207.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:27.981Z,1628955207.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:27.981Z,1628955207.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:27.981Z,1628955207.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:27.982Z,1628955207.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:28.377Z,1628955208.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00324,186,80,80,A0,FF
2021-08-14T15:33:28.377Z,1628955208.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:28.377Z,1628955208.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:28.379Z,1628955208.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:28.784Z,1628955208.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:29.193Z,1628955209.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,002E6,184,80,80,AD,FF
2021-08-14T15:33:29.194Z,1628955209.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:29.219Z,1628955209.219 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:29.645Z,1628955209.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153330.14*5C

2021-08-14T15:33:29.739Z,1628955209.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 146.191675 deg, deltaT: 4.072729 s, approachRate: -0.913392 m/s, LOS rate: -0.964726 deg/s, posRepo size: 4
2021-08-14T15:33:29.745Z,1628955209.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 146.191675 deg,
      approachRate: -0.913392 m/s,
      LOS rate: -0.964726 deg/s,
      cmd update: -2.894177 deg/s,
      cmd heading: 140.631983 deg,
      new cmd heading: 138.954450 deg.

2021-08-14T15:33:32.030Z,1628955212.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:32.426Z,1628955212.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:32.426Z,1628955212.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:32.426Z,1628955212.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:32.427Z,1628955212.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:32.826Z,1628955212.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,002E6,184,80,80,AD,FF
2021-08-14T15:33:32.826Z,1628955212.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:32.826Z,1628955212.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:32.828Z,1628955212.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:33.225Z,1628955213.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:33.649Z,1628955213.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,002C7,187,80,80,6F,FF
2021-08-14T15:33:33.649Z,1628955213.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:33.799Z,1628955213.799 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:34.065Z,1628955214.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153334.60*5B

2021-08-14T15:33:34.099Z,1628955214.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 143.321083 deg, deltaT: 4.580247 s, approachRate: -0.406092 m/s, LOS rate: -0.626733 deg/s, posRepo size: 4
2021-08-14T15:33:34.101Z,1628955214.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 143.321083 deg,
      approachRate: -0.406092 m/s,
      LOS rate: -0.626733 deg/s,
      cmd update: -1.880199 deg/s,
      cmd heading: 127.376004 deg,
      new cmd heading: 126.499045 deg.

2021-08-14T15:33:36.475Z,1628955216.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:36.873Z,1628955216.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:36.873Z,1628955216.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:36.873Z,1628955216.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:36.874Z,1628955216.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:37.265Z,1628955217.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,002C7,187,80,80,6F,FF
2021-08-14T15:33:37.265Z,1628955217.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:37.265Z,1628955217.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:37.267Z,1628955217.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:37.697Z,1628955217.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:38.073Z,1628955218.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,002BF,186,80,80,BD,FF
2021-08-14T15:33:38.073Z,1628955218.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:38.093Z,1628955218.093 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:38.556Z,1628955218.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153339.04*54

2021-08-14T15:33:38.610Z,1628955218.610 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T15:33:38.610Z,1628955218.610 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:33:38.611Z,1628955218.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T15:33:38.611Z,1628955218.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:33:38.611Z,1628955218.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T15:33:38.611Z,1628955218.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-14T15:33:38.612Z,1628955218.612 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T15:33:38.612Z,1628955218.612 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T15:33:38.612Z,1628955218.612 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T15:33:38.614Z,1628955218.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 131.477576 deg, deltaT: 4.294499 s, approachRate: -0.111771 m/s, LOS rate: -2.757832 deg/s, posRepo size: 4
2021-08-14T15:33:38.631Z,1628955218.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 131.477576 deg,
      approachRate: -0.111771 m/s,
      LOS rate: -2.757832 deg/s,
      cmd update: -8.273496 deg/s,
      cmd heading: 119.301638 deg,
      new cmd heading: 118.315773 deg.

2021-08-14T15:33:38.925Z,1628955218.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T153338: (41.552319, -70.708603)
2021-08-14T15:33:38.925Z,1628955218.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T15:33:38.925Z,1628955218.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T15:33:38.925Z,1628955218.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:33:38.925Z,1628955218.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T15:33:38.925Z,1628955218.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:33:38.926Z,1628955218.926 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T15:33:38.926Z,1628955218.926 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T15:33:38.926Z,1628955218.926 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:33:40.966Z,1628955220.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:41.309Z,1628955221.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:41.310Z,1628955221.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:41.310Z,1628955221.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:41.311Z,1628955221.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:41.733Z,1628955221.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,002BF,186,80,80,BD,FF
2021-08-14T15:33:41.733Z,1628955221.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:41.733Z,1628955221.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:41.734Z,1628955221.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:42.117Z,1628955222.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:42.537Z,1628955222.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,002D7,184,80,80,B0,FF
2021-08-14T15:33:42.538Z,1628955222.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:42.603Z,1628955222.603 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:42.946Z,1628955222.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153343.50*58

2021-08-14T15:33:42.971Z,1628955222.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 108.930760 deg, deltaT: 4.509740 s, approachRate: 0.319309 m/s, LOS rate: -4.999582 deg/s, posRepo size: 4
2021-08-14T15:33:42.974Z,1628955222.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 108.930760 deg,
      approachRate: 0.319309 m/s,
      LOS rate: -4.999582 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 82.022912 deg,
      new cmd heading: 78.916661 deg.

2021-08-14T15:33:45.383Z,1628955225.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:45.762Z,1628955225.762 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:45.762Z,1628955225.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:45.762Z,1628955225.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:45.763Z,1628955225.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:46.153Z,1628955226.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,002D7,184,80,80,B0,FF
2021-08-14T15:33:46.153Z,1628955226.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:46.153Z,1628955226.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:46.155Z,1628955226.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:46.588Z,1628955226.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:46.961Z,1628955226.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00301,185,80,80,4B,FF
2021-08-14T15:33:46.961Z,1628955226.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:47.001Z,1628955227.001 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:47.406Z,1628955227.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153347.92*52

2021-08-14T15:33:47.421Z,1628955227.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 99.105341 deg, deltaT: 4.398319 s, approachRate: 0.572946 m/s, LOS rate: -2.233903 deg/s, posRepo size: 4
2021-08-14T15:33:47.423Z,1628955227.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 99.105341 deg,
      approachRate: 0.572946 m/s,
      LOS rate: -2.233903 deg/s,
      cmd update: -6.701709 deg/s,
      cmd heading: 29.434746 deg,
      new cmd heading: 24.122742 deg.

2021-08-14T15:33:49.861Z,1628955229.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:50.193Z,1628955230.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:50.193Z,1628955230.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:50.193Z,1628955230.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:50.194Z,1628955230.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:50.633Z,1628955230.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00301,185,80,80,4B,FF
2021-08-14T15:33:50.634Z,1628955230.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:50.634Z,1628955230.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:50.637Z,1628955230.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:51.016Z,1628955231.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:51.406Z,1628955231.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,0032A,18A,80,80,58,FF
2021-08-14T15:33:51.407Z,1628955231.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:51.467Z,1628955231.467 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:51.827Z,1628955231.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153352.40*59

2021-08-14T15:33:51.915Z,1628955231.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 46.678910 deg, deltaT: 4.465429 s, approachRate: 0.550899 m/s, LOS rate: -11.740514 deg/s, posRepo size: 4
2021-08-14T15:33:51.916Z,1628955231.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.740514 deg/s. Setting heading cmd to target bearing of 46.678910deg and heading rate command to 0 deg/s.
2021-08-14T15:33:54.266Z,1628955234.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:54.638Z,1628955234.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:54.639Z,1628955234.639 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:54.639Z,1628955234.639 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:54.640Z,1628955234.640 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:55.041Z,1628955235.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,0032A,18A,80,80,58,FF
2021-08-14T15:33:55.041Z,1628955235.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:55.041Z,1628955235.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:55.043Z,1628955235.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:33:55.449Z,1628955235.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:33:56.286Z,1628955236.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,01E05,186,80,80,22,FF
2021-08-14T15:33:56.286Z,1628955236.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:33:56.291Z,1628955236.291 [Micromodem](INFO): Nmea in: $SNTTA,0.072887,,,,153356.81*4C

2021-08-14T15:33:56.348Z,1628955236.348 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:33:56.715Z,1628955236.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 423.599976 m, bearing: 41.351055 deg, deltaT: 4.881178 s, approachRate: 84.508286 m/s, LOS rate: -1.091510 deg/s, posRepo size: 4
2021-08-14T15:33:56.716Z,1628955236.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 423.60 m. Rolling out.
2021-08-14T15:33:56.716Z,1628955236.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:33:57.115Z,1628955237.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:33:57.115Z,1628955237.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:33:57.115Z,1628955237.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:33:57.116Z,1628955237.116 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:33:57.116Z,1628955237.116 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:33:57.116Z,1628955237.116 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:33:57.548Z,1628955237.548 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:33:57.549Z,1628955237.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:33:57.549Z,1628955237.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:33:57.550Z,1628955237.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:33:59.103Z,1628955239.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:33:59.505Z,1628955239.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:33:59.505Z,1628955239.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:33:59.505Z,1628955239.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:33:59.507Z,1628955239.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:33:59.897Z,1628955239.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,01E05,186,80,80,22,FF
2021-08-14T15:33:59.897Z,1628955239.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:33:59.897Z,1628955239.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:33:59.899Z,1628955239.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:00.313Z,1628955240.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:01.126Z,1628955241.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153401.67*5D

2021-08-14T15:34:01.589Z,1628955241.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA0,000,036CF,186,80,80,4B,FF
2021-08-14T15:34:01.589Z,1628955241.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:01.968Z,1628955241.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 804.360046 m, bearing: 49.861255 deg, deltaT: 5.338145 s, approachRate: 71.328163 m/s, LOS rate: 1.594224 deg/s, posRepo size: 4
2021-08-14T15:34:01.969Z,1628955241.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 804.36 m. Resuming terminal guidance.
2021-08-14T15:34:01.969Z,1628955241.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:34:03.649Z,1628955243.649 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:34:04.366Z,1628955244.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:04.745Z,1628955244.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:04.745Z,1628955244.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:04.745Z,1628955244.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:04.746Z,1628955244.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:05.141Z,1628955245.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA0,000,036CF,186,80,80,4B,FF
2021-08-14T15:34:05.141Z,1628955245.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:05.141Z,1628955245.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:05.143Z,1628955245.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:05.604Z,1628955245.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:05.949Z,1628955245.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,003A4,189,80,80,94,FF
2021-08-14T15:34:05.949Z,1628955245.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:06.393Z,1628955246.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153406.91*53

2021-08-14T15:34:06.415Z,1628955246.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 356.275945 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:34:06.416Z,1628955246.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.42 m.
2021-08-14T15:34:06.417Z,1628955246.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 356.275945deg and heading rate command to 0 deg/s.
2021-08-14T15:34:06.778Z,1628955246.778 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:34:06.833Z,1628955246.833 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:34:06.833Z,1628955246.833 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:34:06.834Z,1628955246.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:34:06.835Z,1628955246.835 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:34:06.835Z,1628955246.835 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:34:06.835Z,1628955246.835 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:34:07.193Z,1628955247.193 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:34:07.193Z,1628955247.193 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:34:07.193Z,1628955247.193 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:34:07.193Z,1628955247.193 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:34:08.834Z,1628955248.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:09.181Z,1628955249.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:09.181Z,1628955249.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:09.181Z,1628955249.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:09.182Z,1628955249.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:09.613Z,1628955249.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,003A4,189,80,80,94,FF
2021-08-14T15:34:09.613Z,1628955249.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:09.613Z,1628955249.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:09.615Z,1628955249.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:10.000Z,1628955250.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:10.402Z,1628955250.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31C,000,003C9,189,80,80,91,FF
2021-08-14T15:34:10.402Z,1628955250.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:10.422Z,1628955250.422 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:10.886Z,1628955250.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153411.38*56

2021-08-14T15:34:10.957Z,1628955250.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 1.715776 deg, deltaT: 4.410050 s, approachRate: 0.503395 m/s, LOS rate: 1.233507 deg/s, posRepo size: 2
2021-08-14T15:34:10.958Z,1628955250.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.64 m.
2021-08-14T15:34:10.958Z,1628955250.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 20.64 m.
2021-08-14T15:34:10.958Z,1628955250.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:34:10.964Z,1628955250.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 1.715776 deg,
      approachRate: 0.503395 m/s,
      LOS rate: 1.233507 deg/s,
      cmd update: 3.700520 deg/s,
      cmd heading: 356.275945 deg,
      new cmd heading: 356.275945 deg.

2021-08-14T15:34:13.264Z,1628955253.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:13.629Z,1628955253.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:13.629Z,1628955253.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:13.629Z,1628955253.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:13.630Z,1628955253.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:14.035Z,1628955254.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31C,000,003C9,189,80,80,91,FF
2021-08-14T15:34:14.035Z,1628955254.035 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:14.035Z,1628955254.035 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:14.037Z,1628955254.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:14.445Z,1628955254.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:14.833Z,1628955254.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,003EF,186,80,80,6E,FF
2021-08-14T15:34:14.834Z,1628955254.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:14.865Z,1628955254.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:15.277Z,1628955255.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153415.80*51

2021-08-14T15:34:15.312Z,1628955255.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 4.491739 deg, deltaT: 4.443153 s, approachRate: 0.513149 m/s, LOS rate: 0.624773 deg/s, posRepo size: 3
2021-08-14T15:34:15.314Z,1628955255.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.919998 m,
      bearing: 4.491739 deg,
      approachRate: 0.513149 m/s,
      LOS rate: 0.624773 deg/s,
      cmd update: 1.874319 deg/s,
      cmd heading: 12.717741 deg,
      new cmd heading: 14.383356 deg.

2021-08-14T15:34:17.730Z,1628955257.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:18.078Z,1628955258.078 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:18.079Z,1628955258.079 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:18.079Z,1628955258.079 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:18.080Z,1628955258.080 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:18.469Z,1628955258.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,003EF,186,80,80,6E,FF
2021-08-14T15:34:18.469Z,1628955258.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:18.469Z,1628955258.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:18.471Z,1628955258.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:18.877Z,1628955258.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:19.290Z,1628955259.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,00413,186,80,80,55,FF
2021-08-14T15:34:19.290Z,1628955259.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:19.310Z,1628955259.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:19.729Z,1628955259.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153420.24*59

2021-08-14T15:34:19.808Z,1628955259.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 353.400818 deg, deltaT: 4.445157 s, approachRate: 0.485922 m/s, LOS rate: -2.495060 deg/s, posRepo size: 4
2021-08-14T15:34:19.819Z,1628955259.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 353.400818 deg,
      approachRate: 0.485922 m/s,
      LOS rate: -2.495060 deg/s,
      cmd update: -7.485180 deg/s,
      cmd heading: 21.049308 deg,
      new cmd heading: 21.980183 deg.

2021-08-14T15:34:22.135Z,1628955262.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:22.513Z,1628955262.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:22.513Z,1628955262.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:22.513Z,1628955262.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:22.514Z,1628955262.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:22.921Z,1628955262.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,00413,186,80,80,55,FF
2021-08-14T15:34:22.921Z,1628955262.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:22.921Z,1628955262.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:22.923Z,1628955262.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:23.329Z,1628955263.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:23.729Z,1628955263.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,00427,188,80,80,90,FF
2021-08-14T15:34:23.729Z,1628955263.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:23.738Z,1628955263.738 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:34:23.796Z,1628955263.796 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:24.173Z,1628955264.173 [Micromodem](INFO): Nmea in: $SNTTA,0.036913,,,,153424.69*44

2021-08-14T15:34:24.190Z,1628955264.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 343.969146 deg, deltaT: 4.485906 s, approachRate: 0.267505 m/s, LOS rate: -2.102512 deg/s, posRepo size: 4
2021-08-14T15:34:24.190Z,1628955264.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 26.28 m. Rolling out.
2021-08-14T15:34:24.191Z,1628955264.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:34:26.608Z,1628955266.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:26.957Z,1628955266.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:26.957Z,1628955266.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:26.957Z,1628955266.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:26.958Z,1628955266.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:27.361Z,1628955267.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,00427,188,80,80,90,FF
2021-08-14T15:34:27.361Z,1628955267.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:27.361Z,1628955267.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:27.363Z,1628955267.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:27.769Z,1628955267.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:28.169Z,1628955268.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00449,189,80,80,B4,FF
2021-08-14T15:34:28.170Z,1628955268.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:28.190Z,1628955268.190 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:28.631Z,1628955268.631 [Micromodem](INFO): Nmea in: $SNTTA,0.057403,,,,153429.13*4F

2021-08-14T15:34:28.661Z,1628955268.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 341.077053 deg, deltaT: 4.393910 s, approachRate: 0.464278 m/s, LOS rate: -0.658205 deg/s, posRepo size: 4
2021-08-14T15:34:30.700Z,1628955270.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:30.993Z,1628955270.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:30.993Z,1628955270.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:30.994Z,1628955270.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:30.995Z,1628955270.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:31.024Z,1628955271.024 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00449,189,80,80,B4,FF
2021-08-14T15:34:31.024Z,1628955271.024 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:31.024Z,1628955271.024 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:31.026Z,1628955271.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:31.417Z,1628955271.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:31.805Z,1628955271.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,00461,186,80,80,84,FF
2021-08-14T15:34:31.805Z,1628955271.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:31.909Z,1628955271.909 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:32.241Z,1628955272.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153432.80*54

2021-08-14T15:34:32.271Z,1628955272.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 341.139727 deg, deltaT: 3.719043 s, approachRate: 0.387197 m/s, LOS rate: 0.016852 deg/s, posRepo size: 4
2021-08-14T15:34:33.856Z,1628955273.856 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:34:34.693Z,1628955274.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:35.037Z,1628955275.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:35.037Z,1628955275.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:35.037Z,1628955275.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:35.038Z,1628955275.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:35.449Z,1628955275.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,00461,186,80,80,84,FF
2021-08-14T15:34:35.449Z,1628955275.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:35.449Z,1628955275.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:35.451Z,1628955275.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:35.865Z,1628955275.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:36.257Z,1628955276.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,00476,186,80,80,97,FF
2021-08-14T15:34:36.257Z,1628955276.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:36.310Z,1628955276.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:36.705Z,1628955276.705 [Micromodem](INFO): Nmea in: $SNTTA,0.045249,,,,153437.22*49

2021-08-14T15:34:36.756Z,1628955276.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.020002 m, bearing: 324.701702 deg, deltaT: 4.400841 s, approachRate: 0.286309 m/s, LOS rate: -3.735201 deg/s, posRepo size: 4
2021-08-14T15:34:38.702Z,1628955278.702 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:34:39.110Z,1628955279.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:39.483Z,1628955279.483 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:39.483Z,1628955279.483 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:39.483Z,1628955279.483 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:39.484Z,1628955279.484 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:39.889Z,1628955279.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,00476,186,80,80,97,FF
2021-08-14T15:34:39.889Z,1628955279.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:39.889Z,1628955279.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:39.891Z,1628955279.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:40.296Z,1628955280.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:40.749Z,1628955280.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D4,000,0048F,186,80,80,72,FF
2021-08-14T15:34:40.749Z,1628955280.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:40.812Z,1628955280.812 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:41.129Z,1628955281.129 [Micromodem](INFO): Nmea in: $SNTTA,0.041220,,,,153441.66*43

2021-08-14T15:34:41.161Z,1628955281.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 326.410014 deg, deltaT: 4.502331 s, approachRate: 0.333160 m/s, LOS rate: 0.379428 deg/s, posRepo size: 4
2021-08-14T15:34:43.596Z,1628955283.596 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T15:34:43.613Z,1628955283.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:43.929Z,1628955283.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:43.929Z,1628955283.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:43.929Z,1628955283.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:43.930Z,1628955283.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:44.333Z,1628955284.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D4,000,0048F,186,80,80,72,FF
2021-08-14T15:34:44.334Z,1628955284.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:44.334Z,1628955284.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:44.335Z,1628955284.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:44.745Z,1628955284.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:45.145Z,1628955285.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E3,000,004AC,186,80,80,97,FF
2021-08-14T15:34:45.145Z,1628955285.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:45.211Z,1628955285.211 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:45.609Z,1628955285.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153446.10*5E

2021-08-14T15:34:45.703Z,1628955285.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 325.401168 deg, deltaT: 4.398537 s, approachRate: 0.395586 m/s, LOS rate: -0.229360 deg/s, posRepo size: 4
2021-08-14T15:34:47.726Z,1628955287.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:47.973Z,1628955287.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:47.973Z,1628955287.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:47.973Z,1628955287.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:47.974Z,1628955287.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:48.373Z,1628955288.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E3,000,004AC,186,80,80,97,FF
2021-08-14T15:34:48.373Z,1628955288.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:48.373Z,1628955288.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:48.375Z,1628955288.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:48.776Z,1628955288.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:48.793Z,1628955288.793 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:34:49.186Z,1628955289.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B3,000,004CB,189,80,80,77,FF
2021-08-14T15:34:49.186Z,1628955289.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:49.206Z,1628955289.206 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:49.633Z,1628955289.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153450.14*5D

2021-08-14T15:34:49.733Z,1628955289.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 314.173566 deg, deltaT: 3.995170 s, approachRate: 0.465562 m/s, LOS rate: -2.810294 deg/s, posRepo size: 4
2021-08-14T15:34:51.715Z,1628955291.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:52.010Z,1628955292.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:52.010Z,1628955292.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:52.010Z,1628955292.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:52.011Z,1628955292.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:52.409Z,1628955292.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B3,000,004CB,189,80,80,77,FF
2021-08-14T15:34:52.409Z,1628955292.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:52.409Z,1628955292.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:52.411Z,1628955292.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:52.822Z,1628955292.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:53.213Z,1628955293.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,004E7,189,80,80,B6,FF
2021-08-14T15:34:53.214Z,1628955293.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:53.271Z,1628955293.271 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:53.670Z,1628955293.670 [Micromodem](INFO): Nmea in: $SNTTA,0.056045,,,,153454.18*49

2021-08-14T15:34:53.687Z,1628955293.687 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:34:53.693Z,1628955293.693 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:34:53.737Z,1628955293.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 315.698583 deg, deltaT: 4.064768 s, approachRate: 0.413308 m/s, LOS rate: 0.375179 deg/s, posRepo size: 4
2021-08-14T15:34:56.074Z,1628955296.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:34:56.464Z,1628955296.464 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:34:56.464Z,1628955296.464 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:34:56.464Z,1628955296.464 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:34:56.465Z,1628955296.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:34:56.865Z,1628955296.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,004E7,189,80,80,B6,FF
2021-08-14T15:34:56.865Z,1628955296.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:34:56.865Z,1628955296.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:34:56.867Z,1628955296.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:34:57.344Z,1628955297.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:34:57.749Z,1628955297.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,0050D,188,80,80,62,FF
2021-08-14T15:34:57.750Z,1628955297.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:34:57.835Z,1628955297.835 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:34:58.166Z,1628955298.166 [Micromodem](INFO): Nmea in: $SNTTA,0.058301,,,,153458.64*43

2021-08-14T15:34:58.193Z,1628955298.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 314.697715 deg, deltaT: 4.564002 s, approachRate: 0.499562 m/s, LOS rate: -0.219296 deg/s, posRepo size: 4
2021-08-14T15:34:58.623Z,1628955298.623 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:34:58.658Z,1628955298.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:34:58.659Z,1628955298.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:34:58.659Z,1628955298.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:34:58.660Z,1628955298.660 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:34:58.660Z,1628955298.660 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:34:58.661Z,1628955298.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:34:59.004Z,1628955299.004 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:34:59.005Z,1628955299.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:34:59.005Z,1628955299.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:34:59.005Z,1628955299.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:35:00.622Z,1628955300.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:00.973Z,1628955300.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:00.973Z,1628955300.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:00.974Z,1628955300.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:00.974Z,1628955300.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:01.381Z,1628955301.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,0050D,188,80,80,62,FF
2021-08-14T15:35:01.381Z,1628955301.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:01.381Z,1628955301.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:01.383Z,1628955301.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:01.794Z,1628955301.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:02.189Z,1628955302.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,291,000,00534,189,80,80,A3,FF
2021-08-14T15:35:02.189Z,1628955302.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:02.629Z,1628955302.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153503.15*5B

2021-08-14T15:35:02.658Z,1628955302.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 315.663886 deg, deltaT: 4.407203 s, approachRate: 0.530948 m/s, LOS rate: 0.219225 deg/s, posRepo size: 4
2021-08-14T15:35:03.828Z,1628955303.828 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T15:35:03.834Z,1628955303.834 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:35:05.079Z,1628955305.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:05.425Z,1628955305.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:05.425Z,1628955305.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:05.426Z,1628955305.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:05.427Z,1628955305.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:05.829Z,1628955305.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
291,000,00534,189,80,80,A3,FF
2021-08-14T15:35:05.829Z,1628955305.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:05.829Z,1628955305.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:05.831Z,1628955305.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:06.229Z,1628955306.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:06.633Z,1628955306.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00558,189,80,80,A6,FF
2021-08-14T15:35:06.633Z,1628955306.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:07.077Z,1628955307.077 [Micromodem](INFO): Nmea in: $SNTTA,0.071075,,,,153507.60*47

2021-08-14T15:35:07.094Z,1628955307.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.579998 m, bearing: 319.489475 deg, deltaT: 4.461141 s, approachRate: 0.484181 m/s, LOS rate: 0.857536 deg/s, posRepo size: 4
2021-08-14T15:35:09.475Z,1628955309.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:09.867Z,1628955309.867 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:09.867Z,1628955309.867 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:09.867Z,1628955309.867 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:09.868Z,1628955309.868 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:09.919Z,1628955309.919 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:35:10.269Z,1628955310.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00558,189,80,80,A6,FF
2021-08-14T15:35:10.269Z,1628955310.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:10.269Z,1628955310.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:10.271Z,1628955310.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:10.687Z,1628955310.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:11.093Z,1628955311.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,00580,189,80,80,A9,FF
2021-08-14T15:35:11.093Z,1628955311.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:11.526Z,1628955311.526 [Micromodem](INFO): Nmea in: $SNTTA,0.381525,,,,153512.04*4D

2021-08-14T15:35:11.604Z,1628955311.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 317.622757 deg, deltaT: 4.409425 s, approachRate: 0.544288 m/s, LOS rate: -0.423347 deg/s, posRepo size: 4
2021-08-14T15:35:13.610Z,1628955313.610 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T15:35:13.618Z,1628955313.618 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T15:35:13.655Z,1628955313.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:13.901Z,1628955313.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:13.901Z,1628955313.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:13.901Z,1628955313.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:13.902Z,1628955313.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:14.315Z,1628955314.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,00580,189,80,80,A9,FF
2021-08-14T15:35:14.315Z,1628955314.315 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:14.315Z,1628955314.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:14.317Z,1628955314.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:14.724Z,1628955314.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:15.573Z,1628955315.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153516.09*52

2021-08-14T15:35:16.361Z,1628955316.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:17.953Z,1628955317.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,A9,FF
2021-08-14T15:35:17.953Z,1628955317.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,A9,FF
2021-08-14T15:35:17.953Z,1628955317.953 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:35:18.767Z,1628955318.767 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:35:19.183Z,1628955319.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:19.613Z,1628955319.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:19.613Z,1628955319.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:19.613Z,1628955319.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:19.614Z,1628955319.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:19.981Z,1628955319.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,A9,FF
2021-08-14T15:35:19.981Z,1628955319.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:19.982Z,1628955319.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:19.983Z,1628955319.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:20.373Z,1628955320.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:20.781Z,1628955320.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,005D9,188,80,80,99,FF
2021-08-14T15:35:20.782Z,1628955320.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:21.209Z,1628955321.209 [Micromodem](INFO): Nmea in: $SNTTA,0.076956,,,,153521.75*48

2021-08-14T15:35:21.231Z,1628955321.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 321.028016 deg, deltaT: 9.699799 s, approachRate: 0.550527 m/s, LOS rate: 0.351065 deg/s, posRepo size: 4
2021-08-14T15:35:23.672Z,1628955323.672 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T15:35:23.672Z,1628955323.672 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T15:35:23.672Z,1628955323.672 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T15:35:23.679Z,1628955323.679 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:35:23.740Z,1628955323.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:23.864Z,1628955323.864 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T15:35:24.021Z,1628955324.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:24.021Z,1628955324.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:24.021Z,1628955324.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:24.022Z,1628955324.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:24.100Z,1628955324.100 [RDI_Pathfinder](INFO): Powering down
2021-08-14T15:35:24.418Z,1628955324.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,005D9,188,80,80,99,FF
2021-08-14T15:35:24.418Z,1628955324.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:24.418Z,1628955324.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:24.420Z,1628955324.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:24.837Z,1628955324.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:24.976Z,1628955324.976 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T15:35:24.976Z,1628955324.976 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T15:35:25.218Z,1628955325.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0060D,187,80,80,19,FF
2021-08-14T15:35:25.218Z,1628955325.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:25.666Z,1628955325.666 [Micromodem](INFO): Nmea in: $SNTTA,0.079171,,,,153526.19*47

2021-08-14T15:35:25.718Z,1628955325.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 10.221268 deg, deltaT: 4.426219 s, approachRate: 0.704891 m/s, LOS rate: 11.114057 deg/s, posRepo size: 4
2021-08-14T15:35:28.097Z,1628955328.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:28.449Z,1628955328.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:28.449Z,1628955328.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:28.450Z,1628955328.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:28.450Z,1628955328.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:28.858Z,1628955328.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0060D,187,80,80,19,FF
2021-08-14T15:35:28.859Z,1628955328.859 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:28.859Z,1628955328.859 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:28.861Z,1628955328.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:28.891Z,1628955328.891 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:35:29.257Z,1628955329.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:29.661Z,1628955329.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,341,000,00634,18A,80,80,53,FF
2021-08-14T15:35:29.661Z,1628955329.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:30.093Z,1628955330.093 [Micromodem](INFO): Nmea in: $SNTTA,0.046900,,,,153530.63*4F

2021-08-14T15:35:30.115Z,1628955330.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 306.754041 deg, deltaT: 4.484635 s, approachRate: 0.521782 m/s, LOS rate: -14.152150 deg/s, posRepo size: 4
2021-08-14T15:35:32.511Z,1628955332.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:32.890Z,1628955332.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:32.890Z,1628955332.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:32.890Z,1628955332.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:32.891Z,1628955332.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:33.289Z,1628955333.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
341,000,00634,18A,80,80,53,FF
2021-08-14T15:35:33.289Z,1628955333.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:33.290Z,1628955333.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:33.291Z,1628955333.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:33.711Z,1628955333.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:34.526Z,1628955334.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,01BA9,186,80,80,74,FF
2021-08-14T15:35:34.526Z,1628955334.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:34.531Z,1628955334.531 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153535.06*5C

2021-08-14T15:35:34.943Z,1628955334.943 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:35:34.956Z,1628955334.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 387.359985 m, bearing: 357.388719 deg, deltaT: 4.885765 s, approachRate: 67.457191 m/s, LOS rate: 10.363716 deg/s, posRepo size: 4
2021-08-14T15:35:34.957Z,1628955334.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 387.36 m. Resuming terminal guidance.
2021-08-14T15:35:34.957Z,1628955334.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:35:37.352Z,1628955337.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:37.737Z,1628955337.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:37.737Z,1628955337.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:37.737Z,1628955337.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:37.738Z,1628955337.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:38.160Z,1628955338.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,01BA9,186,80,80,74,FF
2021-08-14T15:35:38.160Z,1628955338.160 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:38.160Z,1628955338.160 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:38.162Z,1628955338.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:38.607Z,1628955338.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:38.953Z,1628955338.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,483,000,0068B,18A,80,80,44,FF
2021-08-14T15:35:38.954Z,1628955338.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:39.407Z,1628955339.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153539.93*5C

2021-08-14T15:35:39.437Z,1628955339.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.000004 m, bearing: 292.430260 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:35:39.438Z,1628955339.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 292.430260deg and heading rate command to 0 deg/s.
2021-08-14T15:35:41.393Z,1628955341.393 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:35:41.830Z,1628955341.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:42.185Z,1628955342.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:42.185Z,1628955342.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:42.185Z,1628955342.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:42.186Z,1628955342.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:42.617Z,1628955342.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
483,000,0068B,18A,80,80,44,FF
2021-08-14T15:35:42.617Z,1628955342.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:42.617Z,1628955342.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:42.620Z,1628955342.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:43.001Z,1628955343.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:43.148Z,1628955343.148 [CTD_Seabird](ERROR): Failed to parse device response: ,6.43,24.1317,4.77985,4785.55
2021-08-14T15:35:43.421Z,1628955343.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE0,000,006BA,189,80,80,45,FF
2021-08-14T15:35:43.422Z,1628955343.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:43.425Z,1628955343.425 [Micromodem](INFO): Nmea in: $SNTTA,0.268304,0.269104,,,153544.40*5B

2021-08-14T15:35:43.824Z,1628955343.824 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T15:35:43.837Z,1628955343.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 27.344857 deg, deltaT: 4.557380 s, approachRate: 0.618776 m/s, LOS rate: 20.826570 deg/s, posRepo size: 2
2021-08-14T15:35:43.838Z,1628955343.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.826570 deg/s. Setting heading cmd to target bearing of 27.344857deg and heading rate command to 0 deg/s.
2021-08-14T15:35:46.239Z,1628955346.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:46.625Z,1628955346.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:46.625Z,1628955346.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:46.625Z,1628955346.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:46.626Z,1628955346.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:47.035Z,1628955347.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE0,000,006BA,189,80,80,45,FF
2021-08-14T15:35:47.035Z,1628955347.035 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:47.035Z,1628955347.035 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:47.037Z,1628955347.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:47.437Z,1628955347.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:47.841Z,1628955347.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,006D8,188,80,80,9B,FF
2021-08-14T15:35:47.842Z,1628955347.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:48.272Z,1628955348.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 284.079261 deg, deltaT: 4.372184 s, approachRate: 0.411693 m/s, LOS rate: -23.618767 deg/s, posRepo size: 3
2021-08-14T15:35:48.273Z,1628955348.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.618767 deg/s. Setting heading cmd to target bearing of 284.079261deg and heading rate command to 0 deg/s.
2021-08-14T15:35:50.715Z,1628955350.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:51.069Z,1628955351.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:51.069Z,1628955351.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:51.069Z,1628955351.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:51.070Z,1628955351.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:51.469Z,1628955351.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
390,000,006D8,188,80,80,9B,FF
2021-08-14T15:35:51.469Z,1628955351.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:51.470Z,1628955351.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:51.471Z,1628955351.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:51.873Z,1628955351.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:52.710Z,1628955352.710 [Micromodem](INFO): Nmea in: $SNTTA,0.055826,,,,153553.24*4E

2021-08-14T15:35:53.612Z,1628955353.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:53.932Z,1628955353.932 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T15:35:53.932Z,1628955353.932 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T15:35:53.932Z,1628955353.932 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T15:35:54.064Z,1628955354.064 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T15:35:54.380Z,1628955354.380 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T15:35:55.110Z,1628955355.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,9B,FF
2021-08-14T15:35:55.110Z,1628955355.110 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,9B,FF
2021-08-14T15:35:55.110Z,1628955355.110 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:35:55.197Z,1628955355.197 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T15:35:55.197Z,1628955355.197 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T15:35:56.338Z,1628955356.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:35:56.721Z,1628955356.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:35:56.721Z,1628955356.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:35:56.721Z,1628955356.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:35:56.722Z,1628955356.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:35:57.134Z,1628955357.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,9B,FF
2021-08-14T15:35:57.134Z,1628955357.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:35:57.134Z,1628955357.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:35:57.136Z,1628955357.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:35:57.543Z,1628955357.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:35:57.941Z,1628955357.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DD,000,00716,186,80,80,A6,FF
2021-08-14T15:35:57.942Z,1628955357.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:35:58.389Z,1628955358.389 [Micromodem](INFO): Nmea in: $SNTTA,0.079219,,,,153558.91*43

2021-08-14T15:35:58.407Z,1628955358.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.339996 m, bearing: 281.829451 deg, deltaT: 10.090572 s, approachRate: 0.368661 m/s, LOS rate: -0.222962 deg/s, posRepo size: 4
2021-08-14T15:35:58.410Z,1628955358.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.339996 m,
      bearing: 281.829451 deg,
      approachRate: 0.368661 m/s,
      LOS rate: -0.222962 deg/s,
      cmd update: -0.668885 deg/s,
      cmd heading: 284.079261 deg,
      new cmd heading: 284.079261 deg.

2021-08-14T15:36:00.788Z,1628955360.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:01.165Z,1628955361.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:01.165Z,1628955361.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:01.165Z,1628955361.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:01.166Z,1628955361.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:01.577Z,1628955361.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DD,000,00716,186,80,80,A6,FF
2021-08-14T15:36:01.577Z,1628955361.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:01.577Z,1628955361.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:01.579Z,1628955361.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:01.976Z,1628955361.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:02.381Z,1628955362.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,0072A,189,80,80,2B,FF
2021-08-14T15:36:02.381Z,1628955362.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:02.813Z,1628955362.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153603.35*5A

2021-08-14T15:36:02.849Z,1628955362.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 260.522266 deg, deltaT: 4.407257 s, approachRate: 0.272281 m/s, LOS rate: -4.834568 deg/s, posRepo size: 4
2021-08-14T15:36:02.851Z,1628955362.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.540009 m,
      bearing: 260.522266 deg,
      approachRate: 0.272281 m/s,
      LOS rate: -4.834568 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.128712 deg,
      new cmd heading: 280.827376 deg.

2021-08-14T15:36:05.227Z,1628955365.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:05.617Z,1628955365.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:05.617Z,1628955365.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:05.617Z,1628955365.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:05.618Z,1628955365.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:06.017Z,1628955366.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,0072A,189,80,80,2B,FF
2021-08-14T15:36:06.017Z,1628955366.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:06.017Z,1628955366.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:06.019Z,1628955366.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:06.421Z,1628955366.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:06.825Z,1628955366.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00737,185,80,80,7B,FF
2021-08-14T15:36:06.825Z,1628955366.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:07.265Z,1628955367.265 [Micromodem](INFO): Nmea in: $SNTTA,0.070074,,,,153607.79*4C

2021-08-14T15:36:07.342Z,1628955367.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.320007 m, bearing: 282.080720 deg, deltaT: 4.443847 s, approachRate: 0.175523 m/s, LOS rate: 4.851304 deg/s, posRepo size: 4
2021-08-14T15:36:07.349Z,1628955367.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.320007 m,
      bearing: 282.080720 deg,
      approachRate: 0.175523 m/s,
      LOS rate: 4.851304 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 227.799774 deg,
      new cmd heading: 221.797326 deg.

2021-08-14T15:36:09.754Z,1628955369.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:10.058Z,1628955370.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:10.058Z,1628955370.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:10.058Z,1628955370.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:10.059Z,1628955370.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:10.457Z,1628955370.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00737,185,80,80,7B,FF
2021-08-14T15:36:10.457Z,1628955370.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:10.457Z,1628955370.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:10.459Z,1628955370.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:10.864Z,1628955370.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:11.293Z,1628955371.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0072F,189,80,80,A5,FF
2021-08-14T15:36:11.295Z,1628955371.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:11.726Z,1628955371.726 [Micromodem](INFO): Nmea in: $SNTTA,0.088780,,,,153612.23*4C

2021-08-14T15:36:11.751Z,1628955371.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.840004 m, bearing: 202.079698 deg, deltaT: 4.537348 s, approachRate: -0.105789 m/s, LOS rate: -17.631671 deg/s, posRepo size: 4
2021-08-14T15:36:11.752Z,1628955371.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.631671 deg/s. Setting heading cmd to target bearing of 202.079698deg and heading rate command to 0 deg/s.
2021-08-14T15:36:14.121Z,1628955374.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:14.509Z,1628955374.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:14.509Z,1628955374.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:14.509Z,1628955374.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:14.510Z,1628955374.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:14.901Z,1628955374.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0072F,189,80,80,A5,FF
2021-08-14T15:36:14.901Z,1628955374.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:14.901Z,1628955374.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:14.903Z,1628955374.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:15.381Z,1628955375.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:15.728Z,1628955375.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0072B,189,80,80,A8,FF
2021-08-14T15:36:15.729Z,1628955375.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:16.161Z,1628955376.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153616.67*59

2021-08-14T15:36:16.184Z,1628955376.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 191.461336 deg, deltaT: 4.376080 s, approachRate: -0.054845 m/s, LOS rate: -2.426455 deg/s, posRepo size: 4
2021-08-14T15:36:16.186Z,1628955376.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 191.461336 deg,
      approachRate: -0.054845 m/s,
      LOS rate: -2.426455 deg/s,
      cmd update: -7.279365 deg/s,
      cmd heading: 202.079698 deg,
      new cmd heading: 202.079698 deg.

2021-08-14T15:36:18.575Z,1628955378.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:18.945Z,1628955378.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:18.945Z,1628955378.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:18.945Z,1628955378.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:18.946Z,1628955378.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:19.374Z,1628955379.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0072B,189,80,80,A8,FF
2021-08-14T15:36:19.374Z,1628955379.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:19.374Z,1628955379.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:19.375Z,1628955379.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:19.760Z,1628955379.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:20.165Z,1628955380.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00723,189,80,80,8E,FF
2021-08-14T15:36:20.165Z,1628955380.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:20.611Z,1628955380.611 [Micromodem](INFO): Nmea in: $SNTTA,0.079126,,,,153621.14*4C

2021-08-14T15:36:20.685Z,1628955380.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 190.389952 deg, deltaT: 4.450543 s, approachRate: -0.107849 m/s, LOS rate: -0.240731 deg/s, posRepo size: 4
2021-08-14T15:36:20.687Z,1628955380.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.120010 m,
      bearing: 190.389952 deg,
      approachRate: -0.107849 m/s,
      LOS rate: -0.240731 deg/s,
      cmd update: -0.722193 deg/s,
      cmd heading: 169.856582 deg,
      new cmd heading: 166.509079 deg.

2021-08-14T15:36:23.029Z,1628955383.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:23.409Z,1628955383.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:23.409Z,1628955383.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:23.409Z,1628955383.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:23.410Z,1628955383.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:23.809Z,1628955383.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00723,189,80,80,8E,FF
2021-08-14T15:36:23.809Z,1628955383.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:23.809Z,1628955383.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:23.811Z,1628955383.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:24.213Z,1628955384.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:24.623Z,1628955384.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00714,189,80,80,A4,FF
2021-08-14T15:36:24.623Z,1628955384.623 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:25.097Z,1628955385.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153625.58*55

2021-08-14T15:36:25.140Z,1628955385.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.220001 m, bearing: 173.753537 deg, deltaT: 4.494751 s, approachRate: -0.200236 m/s, LOS rate: -3.701298 deg/s, posRepo size: 4
2021-08-14T15:36:25.142Z,1628955385.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.220001 m,
      bearing: 173.753537 deg,
      approachRate: -0.200236 m/s,
      LOS rate: -3.701298 deg/s,
      cmd update: -11.103895 deg/s,
      cmd heading: 166.599103 deg,
      new cmd heading: 166.275992 deg.

2021-08-14T15:36:27.492Z,1628955387.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:27.849Z,1628955387.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:27.849Z,1628955387.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:27.849Z,1628955387.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:27.850Z,1628955387.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:28.255Z,1628955388.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00714,189,80,80,A4,FF
2021-08-14T15:36:28.255Z,1628955388.255 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:28.255Z,1628955388.255 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:28.257Z,1628955388.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:28.687Z,1628955388.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:29.065Z,1628955389.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AD,000,00700,189,80,80,87,FF
2021-08-14T15:36:29.066Z,1628955389.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:29.477Z,1628955389.477 [Micromodem](INFO): Nmea in: $SNTTA,0.452076,0.451951,,,153630.03*50

2021-08-14T15:36:29.532Z,1628955389.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.020004 m, bearing: 158.969784 deg, deltaT: 4.381747 s, approachRate: -0.273863 m/s, LOS rate: -3.373940 deg/s, posRepo size: 4
2021-08-14T15:36:29.534Z,1628955389.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.020004 m,
      bearing: 158.969784 deg,
      approachRate: -0.273863 m/s,
      LOS rate: -3.373940 deg/s,
      cmd update: -10.121821 deg/s,
      cmd heading: 117.853192 deg,
      new cmd heading: 112.862058 deg.

2021-08-14T15:36:31.942Z,1628955391.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:32.293Z,1628955392.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:32.293Z,1628955392.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:32.293Z,1628955392.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:32.294Z,1628955392.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:32.729Z,1628955392.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AD,000,00700,189,80,80,87,FF
2021-08-14T15:36:32.729Z,1628955392.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:32.729Z,1628955392.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:32.731Z,1628955392.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:33.100Z,1628955393.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:33.501Z,1628955393.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30E,000,006D8,189,80,80,8E,FF
2021-08-14T15:36:33.501Z,1628955393.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:33.931Z,1628955393.931 [Micromodem](INFO): Nmea in: $SNTTA,0.218585,,,,153634.50*40

2021-08-14T15:36:33.975Z,1628955393.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 163.371759 deg, deltaT: 4.479657 s, approachRate: -0.535757 m/s, LOS rate: 0.982659 deg/s, posRepo size: 4
2021-08-14T15:36:33.981Z,1628955393.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.619995 m,
      bearing: 163.371759 deg,
      approachRate: -0.535757 m/s,
      LOS rate: 0.982659 deg/s,
      cmd update: 2.947977 deg/s,
      cmd heading: 72.551534 deg,
      new cmd heading: 68.332891 deg.

2021-08-14T15:36:36.351Z,1628955396.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:36.733Z,1628955396.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:36.733Z,1628955396.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:36.733Z,1628955396.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:36.734Z,1628955396.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:37.137Z,1628955397.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30E,000,006D8,189,80,80,8E,FF
2021-08-14T15:36:37.138Z,1628955397.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:37.138Z,1628955397.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:37.139Z,1628955397.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:37.549Z,1628955397.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:38.390Z,1628955398.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153638.91*5C

2021-08-14T15:36:39.186Z,1628955399.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:40.773Z,1628955400.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T15:36:40.773Z,1628955400.773 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T15:36:40.773Z,1628955400.773 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:36:42.029Z,1628955402.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:42.393Z,1628955402.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:42.393Z,1628955402.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:42.393Z,1628955402.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:42.394Z,1628955402.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:42.801Z,1628955402.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,8E,FF
2021-08-14T15:36:42.801Z,1628955402.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:42.801Z,1628955402.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:42.803Z,1628955402.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:43.210Z,1628955403.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:43.646Z,1628955403.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00667,185,80,80,AA,FF
2021-08-14T15:36:43.647Z,1628955403.647 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:44.041Z,1628955404.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153644.57*5D

2021-08-14T15:36:44.079Z,1628955404.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.840000 m, bearing: 164.421300 deg, deltaT: 10.209040 s, approachRate: -0.664117 m/s, LOS rate: 0.102805 deg/s, posRepo size: 4
2021-08-14T15:36:44.082Z,1628955404.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.840000 m,
      bearing: 164.421300 deg,
      approachRate: -0.664117 m/s,
      LOS rate: 0.102805 deg/s,
      cmd update: 0.308415 deg/s,
      cmd heading: 102.647446 deg,
      new cmd heading: 103.567713 deg.

2021-08-14T15:36:46.463Z,1628955406.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:46.837Z,1628955406.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:46.837Z,1628955406.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:46.837Z,1628955406.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:46.838Z,1628955406.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:47.240Z,1628955407.240 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00667,185,80,80,AA,FF
2021-08-14T15:36:47.240Z,1628955407.240 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:47.240Z,1628955407.240 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:47.242Z,1628955407.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:47.695Z,1628955407.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:48.064Z,1628955408.064 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00639,186,80,80,5A,FF
2021-08-14T15:36:48.065Z,1628955408.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:48.486Z,1628955408.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153649.01*53

2021-08-14T15:36:48.501Z,1628955408.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 167.910638 deg, deltaT: 4.310326 s, approachRate: -0.640321 m/s, LOS rate: 0.809530 deg/s, posRepo size: 4
2021-08-14T15:36:48.503Z,1628955408.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.080006 m,
      bearing: 167.910638 deg,
      approachRate: -0.640321 m/s,
      LOS rate: 0.809530 deg/s,
      cmd update: 2.428590 deg/s,
      cmd heading: 103.978063 deg,
      new cmd heading: 104.107597 deg.

2021-08-14T15:36:50.921Z,1628955410.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:51.285Z,1628955411.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:51.285Z,1628955411.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:51.286Z,1628955411.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:51.287Z,1628955411.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:51.725Z,1628955411.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,00639,186,80,80,5A,FF
2021-08-14T15:36:51.725Z,1628955411.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:51.725Z,1628955411.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:51.727Z,1628955411.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:52.092Z,1628955412.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:52.914Z,1628955412.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153653.49*54

2021-08-14T15:36:53.757Z,1628955413.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:55.354Z,1628955415.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,5A,FF
2021-08-14T15:36:55.354Z,1628955415.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,5A,FF
2021-08-14T15:36:55.354Z,1628955415.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:36:55.778Z,1628955415.778 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:36:56.572Z,1628955416.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:36:56.941Z,1628955416.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:36:56.942Z,1628955416.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:36:56.942Z,1628955416.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:36:56.943Z,1628955416.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:36:57.367Z,1628955417.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,5A,FF
2021-08-14T15:36:57.367Z,1628955417.367 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:36:57.367Z,1628955417.367 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:36:57.370Z,1628955417.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:36:57.752Z,1628955417.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:36:58.146Z,1628955418.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF5,000,005DC,189,80,80,BB,FF
2021-08-14T15:36:58.147Z,1628955418.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:36:58.563Z,1628955418.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153659.14*56

2021-08-14T15:36:58.601Z,1628955418.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.499996 m, bearing: 174.758217 deg, deltaT: 10.137576 s, approachRate: -0.550428 m/s, LOS rate: 0.675465 deg/s, posRepo size: 4
2021-08-14T15:36:58.603Z,1628955418.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.499996 m,
      bearing: 174.758217 deg,
      approachRate: -0.550428 m/s,
      LOS rate: 0.675465 deg/s,
      cmd update: 2.026395 deg/s,
      cmd heading: 128.587010 deg,
      new cmd heading: 129.515501 deg.

2021-08-14T15:37:01.001Z,1628955421.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:01.379Z,1628955421.379 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:01.379Z,1628955421.379 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:01.379Z,1628955421.379 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:01.381Z,1628955421.381 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:01.786Z,1628955421.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF5,000,005DC,189,80,80,BB,FF
2021-08-14T15:37:01.786Z,1628955421.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:01.786Z,1628955421.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:01.788Z,1628955421.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:02.199Z,1628955422.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:02.589Z,1628955422.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,005B6,189,80,80,99,FF
2021-08-14T15:37:02.590Z,1628955422.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:03.046Z,1628955423.046 [Micromodem](INFO): Nmea in: $SNTTA,0.033172,,,,153703.56*44

2021-08-14T15:37:03.087Z,1628955423.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.219994 m, bearing: 171.384104 deg, deltaT: 4.463698 s, approachRate: -0.510788 m/s, LOS rate: -0.755901 deg/s, posRepo size: 4
2021-08-14T15:37:03.089Z,1628955423.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.219994 m,
      bearing: 171.384104 deg,
      approachRate: -0.510788 m/s,
      LOS rate: -0.755901 deg/s,
      cmd update: -2.267703 deg/s,
      cmd heading: 137.619681 deg,
      new cmd heading: 138.460499 deg.

2021-08-14T15:37:03.826Z,1628955423.826 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:37:05.502Z,1628955425.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:05.829Z,1628955425.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:05.830Z,1628955425.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:05.830Z,1628955425.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:05.831Z,1628955425.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:06.225Z,1628955426.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,005B6,189,80,80,99,FF
2021-08-14T15:37:06.225Z,1628955426.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:06.225Z,1628955426.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:06.227Z,1628955426.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:06.671Z,1628955426.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:07.037Z,1628955427.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00589,18A,80,80,8B,FF
2021-08-14T15:37:07.037Z,1628955427.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:07.482Z,1628955427.482 [Micromodem](INFO): Nmea in: $SNTTA,0.043359,,,,153708.00*40

2021-08-14T15:37:07.521Z,1628955427.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 177.945402 deg, deltaT: 4.423732 s, approachRate: -0.610342 m/s, LOS rate: 1.483204 deg/s, posRepo size: 4
2021-08-14T15:37:07.523Z,1628955427.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.520004 m,
      bearing: 177.945402 deg,
      approachRate: -0.610342 m/s,
      LOS rate: 1.483204 deg/s,
      cmd update: 4.449613 deg/s,
      cmd heading: 127.569376 deg,
      new cmd heading: 126.623880 deg.

2021-08-14T15:37:08.727Z,1628955428.727 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:37:09.902Z,1628955429.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:10.265Z,1628955430.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:10.265Z,1628955430.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:10.265Z,1628955430.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:10.266Z,1628955430.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:10.697Z,1628955430.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,00589,18A,80,80,8B,FF
2021-08-14T15:37:10.697Z,1628955430.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:10.697Z,1628955430.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:10.699Z,1628955430.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:11.077Z,1628955431.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:11.485Z,1628955431.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C57,000,00565,189,80,80,40,FF
2021-08-14T15:37:11.486Z,1628955431.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:11.909Z,1628955431.909 [Micromodem](INFO): Nmea in: $SNTTA,0.193800,,,,153712.47*43

2021-08-14T15:37:11.941Z,1628955431.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 185.513989 deg, deltaT: 4.440839 s, approachRate: -0.486395 m/s, LOS rate: 1.704315 deg/s, posRepo size: 4
2021-08-14T15:37:11.965Z,1628955431.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.360001 m,
      bearing: 185.513989 deg,
      approachRate: -0.486395 m/s,
      LOS rate: 1.704315 deg/s,
      cmd update: 5.112944 deg/s,
      cmd heading: 147.251398 deg,
      new cmd heading: 149.085880 deg.

2021-08-14T15:37:14.332Z,1628955434.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:14.729Z,1628955434.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:14.729Z,1628955434.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:14.729Z,1628955434.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:14.730Z,1628955434.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:15.113Z,1628955435.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C57,000,00565,189,80,80,40,FF
2021-08-14T15:37:15.113Z,1628955435.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:15.113Z,1628955435.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:15.115Z,1628955435.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:15.520Z,1628955435.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:15.921Z,1628955435.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,0053D,186,80,80,5F,FF
2021-08-14T15:37:15.922Z,1628955435.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:16.361Z,1628955436.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153716.88*59

2021-08-14T15:37:16.394Z,1628955436.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 129.770316 deg, deltaT: 4.400949 s, approachRate: -0.545337 m/s, LOS rate: -12.666284 deg/s, posRepo size: 4
2021-08-14T15:37:16.395Z,1628955436.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.666284 deg/s. Setting heading cmd to target bearing of 129.770316deg and heading rate command to 0 deg/s.
2021-08-14T15:37:18.755Z,1628955438.755 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:37:18.770Z,1628955438.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:19.159Z,1628955439.159 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:19.159Z,1628955439.159 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:19.159Z,1628955439.159 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:19.160Z,1628955439.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:19.575Z,1628955439.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,0053D,186,80,80,5F,FF
2021-08-14T15:37:19.575Z,1628955439.575 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:19.575Z,1628955439.575 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:19.577Z,1628955439.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:19.973Z,1628955439.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:20.374Z,1628955440.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,0050D,186,80,80,98,FF
2021-08-14T15:37:20.374Z,1628955440.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:20.797Z,1628955440.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153721.35*5B

2021-08-14T15:37:20.828Z,1628955440.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 184.012823 deg, deltaT: 4.442952 s, approachRate: -0.648217 m/s, LOS rate: 12.208663 deg/s, posRepo size: 4
2021-08-14T15:37:20.829Z,1628955440.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.208663 deg/s. Setting heading cmd to target bearing of 184.012823deg and heading rate command to 0 deg/s.
2021-08-14T15:37:23.248Z,1628955443.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:23.609Z,1628955443.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:23.610Z,1628955443.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:23.610Z,1628955443.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:23.612Z,1628955443.612 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:24.049Z,1628955444.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,0050D,186,80,80,98,FF
2021-08-14T15:37:24.049Z,1628955444.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:24.049Z,1628955444.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:24.051Z,1628955444.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:24.455Z,1628955444.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:24.861Z,1628955444.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,004DA,186,80,80,8F,FF
2021-08-14T15:37:24.862Z,1628955444.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:25.320Z,1628955445.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153725.82*53

2021-08-14T15:37:25.366Z,1628955445.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 183.699495 deg, deltaT: 4.497742 s, approachRate: -0.680343 m/s, LOS rate: -0.069663 deg/s, posRepo size: 4
2021-08-14T15:37:25.367Z,1628955445.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.02 m.
2021-08-14T15:37:25.369Z,1628955445.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.019997 m,
      bearing: 183.699495 deg,
      approachRate: -0.680343 m/s,
      LOS rate: -0.069663 deg/s,
      cmd update: -0.208990 deg/s,
      cmd heading: 184.012823 deg,
      new cmd heading: 184.012823 deg.

2021-08-14T15:37:25.733Z,1628955445.733 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:37:25.809Z,1628955445.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:37:25.809Z,1628955445.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:37:25.809Z,1628955445.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:37:25.810Z,1628955445.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:37:25.810Z,1628955445.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:37:25.810Z,1628955445.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:37:26.121Z,1628955446.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:37:26.121Z,1628955446.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:37:26.121Z,1628955446.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:37:26.121Z,1628955446.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:37:27.762Z,1628955447.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:28.077Z,1628955448.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:28.077Z,1628955448.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:28.077Z,1628955448.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:28.078Z,1628955448.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:28.481Z,1628955448.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,004DA,186,80,80,8F,FF
2021-08-14T15:37:28.481Z,1628955448.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:28.481Z,1628955448.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:28.483Z,1628955448.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:28.893Z,1628955448.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:29.325Z,1628955449.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,004AD,188,80,80,73,FF
2021-08-14T15:37:29.326Z,1628955449.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:29.395Z,1628955449.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:37:29.741Z,1628955449.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153730.25*5A

2021-08-14T15:37:29.798Z,1628955449.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 136.822554 deg, deltaT: 4.507957 s, approachRate: -0.598940 m/s, LOS rate: -10.398710 deg/s, posRepo size: 4
2021-08-14T15:37:29.798Z,1628955449.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.32 m.
2021-08-14T15:37:29.806Z,1628955449.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.320000 m,
      bearing: 136.822554 deg,
      approachRate: -0.598940 m/s,
      LOS rate: -10.398710 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 183.072445 deg,
      new cmd heading: 182.987047 deg.

2021-08-14T15:37:32.155Z,1628955452.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:32.533Z,1628955452.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:32.533Z,1628955452.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:32.533Z,1628955452.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:32.534Z,1628955452.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:32.925Z,1628955452.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,004AD,188,80,80,73,FF
2021-08-14T15:37:32.925Z,1628955452.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:32.925Z,1628955452.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:32.927Z,1628955452.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:33.357Z,1628955453.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:33.749Z,1628955453.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00481,186,80,80,4D,FF
2021-08-14T15:37:33.749Z,1628955453.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:33.815Z,1628955453.815 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T15:37:33.831Z,1628955453.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:37:34.169Z,1628955454.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153734.70*5E

2021-08-14T15:37:34.201Z,1628955454.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 194.144698 deg, deltaT: 4.430979 s, approachRate: -0.595805 m/s, LOS rate: 12.936677 deg/s, posRepo size: 4
2021-08-14T15:37:34.201Z,1628955454.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.68 m.
2021-08-14T15:37:34.202Z,1628955454.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.936677 deg/s. Setting heading cmd to target bearing of 194.144698deg and heading rate command to 0 deg/s.
2021-08-14T15:37:36.598Z,1628955456.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:36.965Z,1628955456.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:36.965Z,1628955456.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:36.965Z,1628955456.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:36.966Z,1628955456.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:37.373Z,1628955457.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00481,186,80,80,4D,FF
2021-08-14T15:37:37.373Z,1628955457.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:37.373Z,1628955457.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:37.375Z,1628955457.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:37.777Z,1628955457.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:38.182Z,1628955458.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E45,000,00455,186,80,80,8B,FF
2021-08-14T15:37:38.182Z,1628955458.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:38.202Z,1628955458.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:37:38.689Z,1628955458.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153739.14*51

2021-08-14T15:37:38.761Z,1628955458.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 196.695337 deg, deltaT: 4.371276 s, approachRate: -0.603942 m/s, LOS rate: 0.583500 deg/s, posRepo size: 4
2021-08-14T15:37:38.762Z,1628955458.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.04 m.
2021-08-14T15:37:38.762Z,1628955458.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.04 m.
2021-08-14T15:37:38.763Z,1628955458.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:37:38.769Z,1628955458.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.040001 m,
      bearing: 196.695337 deg,
      approachRate: -0.603942 m/s,
      LOS rate: 0.583500 deg/s,
      cmd update: 1.750499 deg/s,
      cmd heading: 194.144698 deg,
      new cmd heading: 194.144698 deg.

2021-08-14T15:37:41.047Z,1628955461.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:41.417Z,1628955461.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:41.417Z,1628955461.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:41.417Z,1628955461.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:41.418Z,1628955461.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:41.813Z,1628955461.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E45,000,00455,186,80,80,8B,FF
2021-08-14T15:37:41.813Z,1628955461.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:41.813Z,1628955461.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:41.815Z,1628955461.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:42.220Z,1628955462.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:42.625Z,1628955462.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,0042A,189,80,80,68,FF
2021-08-14T15:37:42.625Z,1628955462.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:42.705Z,1628955462.705 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:37:43.070Z,1628955463.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153743.58*54

2021-08-14T15:37:43.097Z,1628955463.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 199.603618 deg, deltaT: 4.503381 s, approachRate: -0.572903 m/s, LOS rate: 0.645799 deg/s, posRepo size: 4
2021-08-14T15:37:43.099Z,1628955463.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.460001 m,
      bearing: 199.603618 deg,
      approachRate: -0.572903 m/s,
      LOS rate: 0.645799 deg/s,
      cmd update: 1.937398 deg/s,
      cmd heading: 202.020958 deg,
      new cmd heading: 202.718353 deg.

2021-08-14T15:37:45.495Z,1628955465.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:45.853Z,1628955465.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:45.853Z,1628955465.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:45.853Z,1628955465.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:45.854Z,1628955465.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:46.261Z,1628955466.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,0042A,189,80,80,68,FF
2021-08-14T15:37:46.261Z,1628955466.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:46.262Z,1628955466.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:46.263Z,1628955466.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:46.700Z,1628955466.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:47.074Z,1628955467.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F13,000,0040B,187,80,80,5E,FF
2021-08-14T15:37:47.074Z,1628955467.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:47.094Z,1628955467.094 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:37:47.517Z,1628955467.517 [Micromodem](INFO): Nmea in: $SNTTA,0.031291,,,,153748.03*47

2021-08-14T15:37:47.566Z,1628955467.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 187.965549 deg, deltaT: 4.389006 s, approachRate: -0.423786 m/s, LOS rate: -2.651641 deg/s, posRepo size: 4
2021-08-14T15:37:47.568Z,1628955467.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.600000 m,
      bearing: 187.965549 deg,
      approachRate: -0.423786 m/s,
      LOS rate: -2.651641 deg/s,
      cmd update: -7.954923 deg/s,
      cmd heading: 210.532152 deg,
      new cmd heading: 211.451657 deg.

2021-08-14T15:37:49.932Z,1628955469.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:50.297Z,1628955470.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:50.297Z,1628955470.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:50.297Z,1628955470.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:50.298Z,1628955470.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:50.711Z,1628955470.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F13,000,0040B,187,80,80,5E,FF
2021-08-14T15:37:50.711Z,1628955470.711 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:50.711Z,1628955470.711 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:50.713Z,1628955470.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:51.117Z,1628955471.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:51.509Z,1628955471.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,003D2,186,80,80,77,FF
2021-08-14T15:37:51.509Z,1628955471.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:51.592Z,1628955471.592 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:37:51.954Z,1628955471.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153752.48*55

2021-08-14T15:37:51.985Z,1628955471.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 200.843092 deg, deltaT: 4.498040 s, approachRate: -0.760332 m/s, LOS rate: 2.862923 deg/s, posRepo size: 4
2021-08-14T15:37:51.987Z,1628955471.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.179998 m,
      bearing: 200.843092 deg,
      approachRate: -0.760332 m/s,
      LOS rate: 2.862923 deg/s,
      cmd update: 8.588769 deg/s,
      cmd heading: 174.848148 deg,
      new cmd heading: 171.600575 deg.

2021-08-14T15:37:53.706Z,1628955473.706 [CTD_Seabird](ERROR): Failed to parse device response: .28
2021-08-14T15:37:54.365Z,1628955474.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:54.745Z,1628955474.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:54.745Z,1628955474.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:54.745Z,1628955474.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:54.746Z,1628955474.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:55.149Z,1628955475.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,003D2,186,80,80,77,FF
2021-08-14T15:37:55.149Z,1628955475.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:55.149Z,1628955475.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:55.151Z,1628955475.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:37:55.552Z,1628955475.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:37:55.953Z,1628955475.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,003A4,184,80,80,8E,FF
2021-08-14T15:37:55.953Z,1628955475.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:37:56.003Z,1628955476.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:37:56.393Z,1628955476.393 [Micromodem](INFO): Nmea in: $SNTTA,0.037975,,,,153756.93*46

2021-08-14T15:37:56.435Z,1628955476.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 199.791503 deg, deltaT: 4.410142 s, approachRate: -0.625830 m/s, LOS rate: -0.238448 deg/s, posRepo size: 4
2021-08-14T15:37:56.438Z,1628955476.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 199.791503 deg,
      approachRate: -0.625830 m/s,
      LOS rate: -0.238448 deg/s,
      cmd update: -0.715344 deg/s,
      cmd heading: 212.624372 deg,
      new cmd heading: 216.574708 deg.

2021-08-14T15:37:58.815Z,1628955478.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:37:59.205Z,1628955479.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:37:59.205Z,1628955479.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:37:59.205Z,1628955479.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:37:59.206Z,1628955479.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:37:59.593Z,1628955479.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,003A4,184,80,80,8E,FF
2021-08-14T15:37:59.594Z,1628955479.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:37:59.594Z,1628955479.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:37:59.595Z,1628955479.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:00.005Z,1628955480.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:00.405Z,1628955480.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00377,187,80,80,93,FF
2021-08-14T15:38:00.405Z,1628955480.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:00.472Z,1628955480.472 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:00.846Z,1628955480.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153801.37*54

2021-08-14T15:38:00.867Z,1628955480.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 212.064069 deg, deltaT: 4.469820 s, approachRate: -0.604051 m/s, LOS rate: 2.745651 deg/s, posRepo size: 4
2021-08-14T15:38:00.870Z,1628955480.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 212.064069 deg,
      approachRate: -0.604051 m/s,
      LOS rate: 2.745651 deg/s,
      cmd update: 8.236954 deg/s,
      cmd heading: 209.415573 deg,
      new cmd heading: 209.124834 deg.

2021-08-14T15:38:03.254Z,1628955483.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:03.671Z,1628955483.671 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:03.673Z,1628955483.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:03.674Z,1628955483.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:03.679Z,1628955483.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:03.724Z,1628955483.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00377,187,80,80,93,FF
2021-08-14T15:38:03.724Z,1628955483.724 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:03.724Z,1628955483.724 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:03.726Z,1628955483.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:04.129Z,1628955484.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:04.517Z,1628955484.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00360,187,80,80,77,FF
2021-08-14T15:38:04.518Z,1628955484.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:04.566Z,1628955484.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:04.961Z,1628955484.961 [Micromodem](INFO): Nmea in: $SNTTA,0.031514,,,,153805.50*4D

2021-08-14T15:38:04.992Z,1628955484.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.339997 m, bearing: 206.934651 deg, deltaT: 4.093222 s, approachRate: -0.337143 m/s, LOS rate: -1.253149 deg/s, posRepo size: 4
2021-08-14T15:38:04.994Z,1628955484.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.339997 m,
      bearing: 206.934651 deg,
      approachRate: -0.337143 m/s,
      LOS rate: -1.253149 deg/s,
      cmd update: -3.759447 deg/s,
      cmd heading: 243.165643 deg,
      new cmd heading: 246.737499 deg.

2021-08-14T15:38:07.405Z,1628955487.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:07.753Z,1628955487.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:07.753Z,1628955487.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:07.753Z,1628955487.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:07.754Z,1628955487.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:08.153Z,1628955488.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00360,187,80,80,77,FF
2021-08-14T15:38:08.153Z,1628955488.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:08.154Z,1628955488.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:08.155Z,1628955488.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:08.573Z,1628955488.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:08.965Z,1628955488.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,0033A,186,80,80,97,FF
2021-08-14T15:38:08.965Z,1628955488.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:08.986Z,1628955488.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:09.410Z,1628955489.410 [Micromodem](INFO): Nmea in: $SNTTA,0.043949,,,,153809.93*4F

2021-08-14T15:38:09.480Z,1628955489.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 207.197846 deg, deltaT: 4.420544 s, approachRate: -0.515774 m/s, LOS rate: 0.059539 deg/s, posRepo size: 4
2021-08-14T15:38:09.483Z,1628955489.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 207.197846 deg,
      approachRate: -0.515774 m/s,
      LOS rate: 0.059539 deg/s,
      cmd update: 0.178617 deg/s,
      cmd heading: 226.531774 deg,
      new cmd heading: 224.752683 deg.

2021-08-14T15:38:11.850Z,1628955491.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:12.189Z,1628955492.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:12.189Z,1628955492.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:12.190Z,1628955492.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:12.191Z,1628955492.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:12.597Z,1628955492.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,0033A,186,80,80,97,FF
2021-08-14T15:38:12.598Z,1628955492.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:12.598Z,1628955492.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:12.600Z,1628955492.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:13.009Z,1628955493.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:13.414Z,1628955493.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00315,188,80,80,C0,FF
2021-08-14T15:38:13.414Z,1628955493.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:13.496Z,1628955493.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:13.889Z,1628955493.889 [Micromodem](INFO): Nmea in: $SNTTA,0.039189,,,,153814.37*44

2021-08-14T15:38:13.938Z,1628955493.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 203.280049 deg, deltaT: 4.510018 s, approachRate: -0.492237 m/s, LOS rate: -0.868688 deg/s, posRepo size: 4
2021-08-14T15:38:13.940Z,1628955493.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 203.280049 deg,
      approachRate: -0.492237 m/s,
      LOS rate: -0.868688 deg/s,
      cmd update: -2.606063 deg/s,
      cmd heading: 227.335761 deg,
      new cmd heading: 227.416782 deg.

2021-08-14T15:38:16.278Z,1628955496.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:16.641Z,1628955496.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:16.641Z,1628955496.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:16.641Z,1628955496.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:16.642Z,1628955496.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:17.041Z,1628955497.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00315,188,80,80,C0,FF
2021-08-14T15:38:17.041Z,1628955497.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:17.041Z,1628955497.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:17.043Z,1628955497.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:17.448Z,1628955497.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:17.865Z,1628955497.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DE,000,002DC,189,80,80,70,FF
2021-08-14T15:38:17.865Z,1628955497.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:17.914Z,1628955497.914 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:18.289Z,1628955498.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153818.81*51

2021-08-14T15:38:18.335Z,1628955498.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.419999 m, bearing: 184.238697 deg, deltaT: 4.418161 s, approachRate: -0.774078 m/s, LOS rate: -4.309791 deg/s, posRepo size: 4
2021-08-14T15:38:18.343Z,1628955498.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 184.238697 deg,
      approachRate: -0.774078 m/s,
      LOS rate: -4.309791 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 215.809641 deg,
      new cmd heading: 214.693524 deg.

2021-08-14T15:38:20.731Z,1628955500.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:21.089Z,1628955501.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:21.090Z,1628955501.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:21.090Z,1628955501.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:21.091Z,1628955501.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:21.489Z,1628955501.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DE,000,002DC,189,80,80,70,FF
2021-08-14T15:38:21.489Z,1628955501.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:21.489Z,1628955501.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:21.491Z,1628955501.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:21.901Z,1628955501.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:22.301Z,1628955502.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,002E7,186,80,80,A9,FF
2021-08-14T15:38:22.302Z,1628955502.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:22.327Z,1628955502.327 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:22.738Z,1628955502.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153823.27*55

2021-08-14T15:38:22.791Z,1628955502.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 197.695236 deg, deltaT: 4.412271 s, approachRate: 0.149583 m/s, LOS rate: 3.049799 deg/s, posRepo size: 4
2021-08-14T15:38:22.794Z,1628955502.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 197.695236 deg,
      approachRate: 0.149583 m/s,
      LOS rate: 3.049799 deg/s,
      cmd update: 9.149395 deg/s,
      cmd heading: 162.811831 deg,
      new cmd heading: 157.195819 deg.

2021-08-14T15:38:25.148Z,1628955505.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:25.540Z,1628955505.540 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:25.540Z,1628955505.540 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:25.541Z,1628955505.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:25.542Z,1628955505.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:25.934Z,1628955505.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,002E7,186,80,80,A9,FF
2021-08-14T15:38:25.934Z,1628955505.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:25.935Z,1628955505.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:25.997Z,1628955505.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:26.345Z,1628955506.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:26.749Z,1628955506.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,002BF,187,80,80,A4,FF
2021-08-14T15:38:26.750Z,1628955506.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:26.774Z,1628955506.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:27.167Z,1628955507.167 [Micromodem](INFO): Nmea in: $SNTTA,0.029551,,,,153827.77*40

2021-08-14T15:38:27.225Z,1628955507.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 200.159472 deg, deltaT: 4.447243 s, approachRate: -0.539661 m/s, LOS rate: 0.554104 deg/s, posRepo size: 4
2021-08-14T15:38:27.227Z,1628955507.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 200.159472 deg,
      approachRate: -0.539661 m/s,
      LOS rate: 0.554104 deg/s,
      cmd update: 1.662313 deg/s,
      cmd heading: 203.461853 deg,
      new cmd heading: 207.658104 deg.

2021-08-14T15:38:29.601Z,1628955509.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:29.981Z,1628955509.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:29.981Z,1628955509.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:29.981Z,1628955509.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:29.982Z,1628955509.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:30.381Z,1628955510.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,002BF,187,80,80,A4,FF
2021-08-14T15:38:30.381Z,1628955510.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:30.381Z,1628955510.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:30.383Z,1628955510.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:30.840Z,1628955510.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:31.182Z,1628955511.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12F,000,002D1,186,80,80,99,FF
2021-08-14T15:38:31.182Z,1628955511.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:31.207Z,1628955511.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:31.633Z,1628955511.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153832.15*54

2021-08-14T15:38:31.725Z,1628955511.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 180.542732 deg, deltaT: 4.433285 s, approachRate: 0.243612 m/s, LOS rate: -4.424877 deg/s, posRepo size: 4
2021-08-14T15:38:31.727Z,1628955511.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 180.542732 deg,
      approachRate: 0.243612 m/s,
      LOS rate: -4.424877 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.838566 deg,
      new cmd heading: 211.697579 deg.

2021-08-14T15:38:33.744Z,1628955513.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:34.025Z,1628955514.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:34.025Z,1628955514.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:34.025Z,1628955514.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:34.026Z,1628955514.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:34.425Z,1628955514.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12F,000,002D1,186,80,80,99,FF
2021-08-14T15:38:34.425Z,1628955514.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:34.426Z,1628955514.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:34.427Z,1628955514.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:34.832Z,1628955514.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:35.229Z,1628955515.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,002F2,186,80,80,76,FF
2021-08-14T15:38:35.229Z,1628955515.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:35.307Z,1628955515.307 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:35.749Z,1628955515.749 [Micromodem](INFO): Nmea in: $SNTTA,0.027063,,,,153836.20*48

2021-08-14T15:38:35.835Z,1628955515.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 193.014753 deg, deltaT: 4.106670 s, approachRate: 0.482143 m/s, LOS rate: 3.037016 deg/s, posRepo size: 4
2021-08-14T15:38:35.837Z,1628955515.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 193.014753 deg,
      approachRate: 0.482143 m/s,
      LOS rate: 3.037016 deg/s,
      cmd update: 9.111047 deg/s,
      cmd heading: 162.273928 deg,
      new cmd heading: 155.267656 deg.

2021-08-14T15:38:38.103Z,1628955518.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:38.461Z,1628955518.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:38.461Z,1628955518.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:38.461Z,1628955518.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:38.462Z,1628955518.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:38.877Z,1628955518.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,002F2,186,80,80,76,FF
2021-08-14T15:38:38.877Z,1628955518.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:38.877Z,1628955518.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:38.879Z,1628955518.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:39.320Z,1628955519.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:39.678Z,1628955519.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,0031F,185,80,80,4A,FF
2021-08-14T15:38:39.679Z,1628955519.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:39.729Z,1628955519.729 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:40.100Z,1628955520.100 [Micromodem](INFO): Nmea in: $SNTTA,0.033603,,,,153840.65*4D

2021-08-14T15:38:40.174Z,1628955520.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 206.418589 deg, deltaT: 4.415199 s, approachRate: 0.611524 m/s, LOS rate: 3.035840 deg/s, posRepo size: 4
2021-08-14T15:38:40.181Z,1628955520.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 206.418589 deg,
      approachRate: 0.611524 m/s,
      LOS rate: 3.035840 deg/s,
      cmd update: 9.107519 deg/s,
      cmd heading: 203.007297 deg,
      new cmd heading: 207.127158 deg.

2021-08-14T15:38:42.565Z,1628955522.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:42.929Z,1628955522.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:42.929Z,1628955522.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:42.929Z,1628955522.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:42.930Z,1628955522.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:43.349Z,1628955523.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,0031F,185,80,80,4A,FF
2021-08-14T15:38:43.349Z,1628955523.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:43.349Z,1628955523.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:43.351Z,1628955523.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:43.754Z,1628955523.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:44.113Z,1628955524.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8A,000,0034E,186,80,80,47,FF
2021-08-14T15:38:44.113Z,1628955524.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:44.166Z,1628955524.166 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:44.535Z,1628955524.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153845.12*53

2021-08-14T15:38:44.576Z,1628955524.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 213.589919 deg, deltaT: 4.436720 s, approachRate: 0.635605 m/s, LOS rate: 1.616358 deg/s, posRepo size: 4
2021-08-14T15:38:44.577Z,1628955524.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.26 m. Rolling out.
2021-08-14T15:38:44.577Z,1628955524.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:38:47.020Z,1628955527.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:47.365Z,1628955527.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:47.365Z,1628955527.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:47.365Z,1628955527.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:47.366Z,1628955527.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:47.754Z,1628955527.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8A,000,0034E,186,80,80,47,FF
2021-08-14T15:38:47.754Z,1628955527.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:47.754Z,1628955527.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:47.757Z,1628955527.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:48.189Z,1628955528.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:48.558Z,1628955528.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,00380,187,80,80,3E,FF
2021-08-14T15:38:48.558Z,1628955528.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:48.624Z,1628955528.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:49.013Z,1628955529.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153849.53*5A

2021-08-14T15:38:49.036Z,1628955529.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 195.648788 deg, deltaT: 4.458496 s, approachRate: 0.672873 m/s, LOS rate: -4.024032 deg/s, posRepo size: 4
2021-08-14T15:38:51.482Z,1628955531.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:51.789Z,1628955531.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:51.789Z,1628955531.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:51.789Z,1628955531.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:51.790Z,1628955531.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:52.193Z,1628955532.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,00380,187,80,80,3E,FF
2021-08-14T15:38:52.193Z,1628955532.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:52.193Z,1628955532.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:52.195Z,1628955532.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:52.600Z,1628955532.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:53.005Z,1628955533.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,003BB,186,80,80,30,FF
2021-08-14T15:38:53.005Z,1628955533.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:53.042Z,1628955533.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:53.454Z,1628955533.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153853.97*59

2021-08-14T15:38:53.520Z,1628955533.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 207.919605 deg, deltaT: 4.417418 s, approachRate: 0.801372 m/s, LOS rate: 2.777826 deg/s, posRepo size: 4
2021-08-14T15:38:53.925Z,1628955533.925 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T15:38:55.917Z,1628955535.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:38:56.241Z,1628955536.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:38:56.241Z,1628955536.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:38:56.241Z,1628955536.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:38:56.242Z,1628955536.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:38:56.645Z,1628955536.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,003BB,186,80,80,30,FF
2021-08-14T15:38:56.645Z,1628955536.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:38:56.645Z,1628955536.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:38:56.648Z,1628955536.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:38:57.048Z,1628955537.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:38:57.449Z,1628955537.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,003DE,187,80,80,54,FF
2021-08-14T15:38:57.449Z,1628955537.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:38:57.555Z,1628955537.555 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:38:57.898Z,1628955537.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153858.42*5A

2021-08-14T15:38:57.914Z,1628955537.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 256.980895 deg, deltaT: 4.512968 s, approachRate: 0.465326 m/s, LOS rate: 10.871180 deg/s, posRepo size: 4
2021-08-14T15:39:00.275Z,1628955540.275 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:39:00.339Z,1628955540.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:00.678Z,1628955540.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:00.678Z,1628955540.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:00.678Z,1628955540.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:00.679Z,1628955540.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:01.093Z,1628955541.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,003DE,187,80,80,54,FF
2021-08-14T15:39:01.093Z,1628955541.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:01.093Z,1628955541.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:01.095Z,1628955541.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:01.494Z,1628955541.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:02.318Z,1628955542.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153902.87*5D

2021-08-14T15:39:03.133Z,1628955543.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:04.725Z,1628955544.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,54,FF
2021-08-14T15:39:04.725Z,1628955544.725 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,54,FF
2021-08-14T15:39:04.725Z,1628955544.725 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:39:05.985Z,1628955545.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:06.353Z,1628955546.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:06.354Z,1628955546.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:06.354Z,1628955546.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:06.355Z,1628955546.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:06.737Z,1628955546.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,54,FF
2021-08-14T15:39:06.737Z,1628955546.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:06.737Z,1628955546.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:06.739Z,1628955546.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:07.144Z,1628955547.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:07.553Z,1628955547.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00429,186,80,80,3F,FF
2021-08-14T15:39:07.554Z,1628955547.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:07.625Z,1628955547.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:39:07.989Z,1628955547.989 [Micromodem](INFO): Nmea in: $SNTTA,0.211464,,,,153908.51*46

2021-08-14T15:39:08.045Z,1628955548.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 271.056003 deg, deltaT: 10.070880 s, approachRate: 0.446833 m/s, LOS rate: 1.397605 deg/s, posRepo size: 4
2021-08-14T15:39:09.589Z,1628955549.589 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T15:39:10.402Z,1628955550.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:10.786Z,1628955550.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:10.786Z,1628955550.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:10.786Z,1628955550.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:10.787Z,1628955550.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:11.181Z,1628955551.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00429,186,80,80,3F,FF
2021-08-14T15:39:11.181Z,1628955551.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:11.182Z,1628955551.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:11.183Z,1628955551.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:11.674Z,1628955551.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:11.709Z,1628955551.709 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:39:12.482Z,1628955552.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153912.95*5F

2021-08-14T15:39:12.500Z,1628955552.500 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T15:39:12.926Z,1628955552.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:14.497Z,1628955554.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,3F,FF
2021-08-14T15:39:14.497Z,1628955554.497 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,3F,FF
2021-08-14T15:39:14.497Z,1628955554.497 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:39:15.432Z,1628955555.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:15.841Z,1628955555.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:15.841Z,1628955555.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:15.841Z,1628955555.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:15.842Z,1628955555.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:16.125Z,1628955556.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,3F,FF
2021-08-14T15:39:16.125Z,1628955556.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:16.125Z,1628955556.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:16.127Z,1628955556.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:16.528Z,1628955556.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:17.362Z,1628955557.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153917.90*5F

2021-08-14T15:39:18.146Z,1628955558.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:19.745Z,1628955559.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,3F,FF
2021-08-14T15:39:19.746Z,1628955559.746 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,3F,FF
2021-08-14T15:39:19.746Z,1628955559.746 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:39:20.991Z,1628955560.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:21.365Z,1628955561.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:21.365Z,1628955561.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:21.365Z,1628955561.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:21.366Z,1628955561.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:21.765Z,1628955561.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,3F,FF
2021-08-14T15:39:21.765Z,1628955561.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:21.765Z,1628955561.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:21.767Z,1628955561.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:22.173Z,1628955562.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:22.573Z,1628955562.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00D,000,004CE,183,80,80,68,FF
2021-08-14T15:39:22.573Z,1628955562.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:22.604Z,1628955562.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:39:23.019Z,1628955563.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 248.829037 deg, deltaT: 14.979059 s, approachRate: 0.660923 m/s, LOS rate: -1.483869 deg/s, posRepo size: 4
2021-08-14T15:39:25.455Z,1628955565.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:25.805Z,1628955565.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:25.805Z,1628955565.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:25.805Z,1628955565.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:25.806Z,1628955565.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:26.217Z,1628955566.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00D,000,004CE,183,80,80,68,FF
2021-08-14T15:39:26.217Z,1628955566.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:26.217Z,1628955566.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:26.219Z,1628955566.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:26.616Z,1628955566.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:27.017Z,1628955567.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,00500,187,80,80,2F,FF
2021-08-14T15:39:27.017Z,1628955567.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:27.040Z,1628955567.040 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:39:27.437Z,1628955567.437 [Micromodem](INFO): Nmea in: $SNTTA,0.040220,0.469643,,,153927.99*5B

2021-08-14T15:39:27.515Z,1628955567.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 243.237462 deg, deltaT: 4.435862 s, approachRate: 0.676307 m/s, LOS rate: -1.260539 deg/s, posRepo size: 4
2021-08-14T15:39:28.663Z,1628955568.663 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:39:29.543Z,1628955569.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:29.845Z,1628955569.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:29.845Z,1628955569.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:29.845Z,1628955569.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:29.846Z,1628955569.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:30.251Z,1628955570.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,00500,187,80,80,2F,FF
2021-08-14T15:39:30.252Z,1628955570.252 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:30.253Z,1628955570.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:30.261Z,1628955570.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:30.675Z,1628955570.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:31.057Z,1628955571.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,0052C,186,80,80,3B,FF
2021-08-14T15:39:31.058Z,1628955571.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:31.107Z,1628955571.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:39:31.506Z,1628955571.506 [Micromodem](INFO): Nmea in: $SNTTA,,0.410361,,,153932.03*4D

2021-08-14T15:39:31.571Z,1628955571.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 240.151500 deg, deltaT: 4.066250 s, approachRate: 0.649248 m/s, LOS rate: -0.758921 deg/s, posRepo size: 4
2021-08-14T15:39:31.897Z,1628955571.897 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:39:31.897Z,1628955571.897 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:39:31.898Z,1628955571.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:39:31.898Z,1628955571.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:39:31.899Z,1628955571.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:39:31.899Z,1628955571.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:39:32.336Z,1628955572.336 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:39:32.337Z,1628955572.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:39:32.337Z,1628955572.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:39:32.337Z,1628955572.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:39:33.907Z,1628955573.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:34.329Z,1628955574.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:34.329Z,1628955574.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:34.329Z,1628955574.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:34.330Z,1628955574.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:34.705Z,1628955574.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,0052C,186,80,80,3B,FF
2021-08-14T15:39:34.705Z,1628955574.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:34.706Z,1628955574.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:34.707Z,1628955574.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:35.100Z,1628955575.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:35.505Z,1628955575.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,00560,186,80,80,38,FF
2021-08-14T15:39:35.505Z,1628955575.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:35.945Z,1628955575.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153936.48*59

2021-08-14T15:39:35.995Z,1628955575.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 237.852103 deg, deltaT: 4.481952 s, approachRate: 0.696124 m/s, LOS rate: -0.513035 deg/s, posRepo size: 4
2021-08-14T15:39:38.351Z,1628955578.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:38.741Z,1628955578.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:38.741Z,1628955578.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:38.741Z,1628955578.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:38.742Z,1628955578.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:39.137Z,1628955579.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,00560,186,80,80,38,FF
2021-08-14T15:39:39.137Z,1628955579.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:39.137Z,1628955579.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:39.139Z,1628955579.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:39.544Z,1628955579.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:39.953Z,1628955579.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,0058F,186,80,80,35,FF
2021-08-14T15:39:39.954Z,1628955579.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:40.389Z,1628955580.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153940.91*5C

2021-08-14T15:39:40.415Z,1628955580.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 237.027372 deg, deltaT: 4.388998 s, approachRate: 0.642516 m/s, LOS rate: -0.187909 deg/s, posRepo size: 4
2021-08-14T15:39:42.791Z,1628955582.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:43.193Z,1628955583.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:43.193Z,1628955583.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:43.193Z,1628955583.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:43.194Z,1628955583.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:43.581Z,1628955583.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,0058F,186,80,80,35,FF
2021-08-14T15:39:43.581Z,1628955583.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:43.581Z,1628955583.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:43.583Z,1628955583.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:43.993Z,1628955583.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:44.393Z,1628955584.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,005BC,186,80,80,8B,FF
2021-08-14T15:39:44.394Z,1628955584.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:44.825Z,1628955584.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153945.35*57

2021-08-14T15:39:44.855Z,1628955584.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 267.305382 deg, deltaT: 4.470294 s, approachRate: 0.603987 m/s, LOS rate: 6.773158 deg/s, posRepo size: 4
2021-08-14T15:39:47.338Z,1628955587.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:47.621Z,1628955587.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:47.621Z,1628955587.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:47.621Z,1628955587.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:47.622Z,1628955587.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:48.024Z,1628955588.024 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,005BC,186,80,80,8B,FF
2021-08-14T15:39:48.024Z,1628955588.024 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:48.024Z,1628955588.024 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:48.026Z,1628955588.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:48.442Z,1628955588.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:48.837Z,1628955588.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,005EF,186,80,80,A2,FF
2021-08-14T15:39:48.837Z,1628955588.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:49.316Z,1628955589.316 [Micromodem](INFO): Nmea in: $SNTTA,0.049959,,,,153949.80*43

2021-08-14T15:39:49.364Z,1628955589.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 262.842126 deg, deltaT: 4.441317 s, approachRate: 0.688984 m/s, LOS rate: -1.004940 deg/s, posRepo size: 4
2021-08-14T15:39:51.735Z,1628955591.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:52.065Z,1628955592.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:52.065Z,1628955592.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:52.066Z,1628955592.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:52.067Z,1628955592.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:52.473Z,1628955592.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,005EF,186,80,80,A2,FF
2021-08-14T15:39:52.474Z,1628955592.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:52.474Z,1628955592.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:52.475Z,1628955592.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:52.881Z,1628955592.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:53.302Z,1628955593.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,0061F,186,80,80,96,FF
2021-08-14T15:39:53.303Z,1628955593.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:53.729Z,1628955593.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153954.25*56

2021-08-14T15:39:53.745Z,1628955593.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.520000 m, bearing: 264.468203 deg, deltaT: 4.498683 s, approachRate: 0.640188 m/s, LOS rate: 0.361456 deg/s, posRepo size: 4
2021-08-14T15:39:56.123Z,1628955596.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:39:56.517Z,1628955596.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:39:56.517Z,1628955596.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:39:56.517Z,1628955596.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:39:56.518Z,1628955596.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:39:56.919Z,1628955596.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,0061F,186,80,80,96,FF
2021-08-14T15:39:56.919Z,1628955596.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:39:56.919Z,1628955596.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:39:56.921Z,1628955596.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:39:57.371Z,1628955597.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:39:57.729Z,1628955597.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00650,185,80,80,92,FF
2021-08-14T15:39:57.730Z,1628955597.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:39:58.157Z,1628955598.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153958.69*52

2021-08-14T15:39:58.191Z,1628955598.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.460003 m, bearing: 267.058675 deg, deltaT: 4.361377 s, approachRate: 0.674100 m/s, LOS rate: 0.593957 deg/s, posRepo size: 4
2021-08-14T15:40:00.591Z,1628955600.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:00.953Z,1628955600.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:00.953Z,1628955600.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:00.953Z,1628955600.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:00.954Z,1628955600.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:01.366Z,1628955601.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00650,185,80,80,92,FF
2021-08-14T15:40:01.366Z,1628955601.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:01.366Z,1628955601.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:01.368Z,1628955601.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:01.769Z,1628955601.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:02.165Z,1628955602.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00682,185,80,80,9A,FF
2021-08-14T15:40:02.166Z,1628955602.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:02.605Z,1628955602.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154003.14*58

2021-08-14T15:40:02.649Z,1628955602.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 267.701314 deg, deltaT: 4.440927 s, approachRate: 0.675534 m/s, LOS rate: 0.144708 deg/s, posRepo size: 4
2021-08-14T15:40:05.023Z,1628955605.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:05.401Z,1628955605.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:05.401Z,1628955605.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:05.402Z,1628955605.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:05.403Z,1628955605.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:05.814Z,1628955605.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00682,185,80,80,9A,FF
2021-08-14T15:40:05.814Z,1628955605.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:05.815Z,1628955605.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:05.816Z,1628955605.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:06.213Z,1628955606.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:06.614Z,1628955606.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,006B3,186,80,80,9F,FF
2021-08-14T15:40:06.614Z,1628955606.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:07.057Z,1628955607.057 [Micromodem](INFO): Nmea in: $SNTTA,0.052887,,,,154007.59*4B

2021-08-14T15:40:07.073Z,1628955607.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.400002 m, bearing: 265.274302 deg, deltaT: 4.492839 s, approachRate: 0.654375 m/s, LOS rate: -0.540196 deg/s, posRepo size: 4
2021-08-14T15:40:09.457Z,1628955609.457 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:40:09.499Z,1628955609.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:09.853Z,1628955609.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:09.853Z,1628955609.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:09.853Z,1628955609.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:09.854Z,1628955609.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:10.254Z,1628955610.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,006B3,186,80,80,9F,FF
2021-08-14T15:40:10.254Z,1628955610.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:10.255Z,1628955610.255 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:10.277Z,1628955610.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:10.667Z,1628955610.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:11.053Z,1628955611.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,006E5,186,80,80,96,FF
2021-08-14T15:40:11.054Z,1628955611.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:11.489Z,1628955611.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154012.05*58

2021-08-14T15:40:11.555Z,1628955611.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.400009 m, bearing: 264.101586 deg, deltaT: 4.390223 s, approachRate: 0.683338 m/s, LOS rate: -0.267120 deg/s, posRepo size: 4
2021-08-14T15:40:13.919Z,1628955613.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:14.310Z,1628955614.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:14.310Z,1628955614.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:14.310Z,1628955614.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:14.311Z,1628955614.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:14.701Z,1628955614.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,006E5,186,80,80,96,FF
2021-08-14T15:40:14.701Z,1628955614.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:14.701Z,1628955614.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:14.703Z,1628955614.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:15.106Z,1628955615.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:15.505Z,1628955615.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00719,185,80,80,A1,FF
2021-08-14T15:40:15.505Z,1628955615.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:15.938Z,1628955615.938 [Micromodem](INFO): Nmea in: $SNTTA,0.060975,,,,154016.47*49

2021-08-14T15:40:15.960Z,1628955615.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 262.774098 deg, deltaT: 4.521216 s, approachRate: 0.690077 m/s, LOS rate: -0.293613 deg/s, posRepo size: 4
2021-08-14T15:40:18.390Z,1628955618.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:18.751Z,1628955618.751 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:18.751Z,1628955618.751 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:18.751Z,1628955618.751 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:18.752Z,1628955618.752 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:19.133Z,1628955619.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00719,185,80,80,A1,FF
2021-08-14T15:40:19.133Z,1628955619.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:19.133Z,1628955619.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:19.135Z,1628955619.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:19.559Z,1628955619.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:19.947Z,1628955619.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,0074A,186,80,80,A0,FF
2021-08-14T15:40:19.947Z,1628955619.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:20.393Z,1628955620.393 [Micromodem](INFO): Nmea in: $SNTTA,0.057187,,,,154020.91*46

2021-08-14T15:40:20.423Z,1628955620.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.459999 m, bearing: 262.346473 deg, deltaT: 4.372335 s, approachRate: 0.672410 m/s, LOS rate: -0.097802 deg/s, posRepo size: 4
2021-08-14T15:40:22.806Z,1628955622.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:23.181Z,1628955623.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:23.181Z,1628955623.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:23.182Z,1628955623.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:23.183Z,1628955623.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:23.578Z,1628955623.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,0074A,186,80,80,A0,FF
2021-08-14T15:40:23.578Z,1628955623.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:23.579Z,1628955623.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:23.581Z,1628955623.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:24.005Z,1628955624.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:24.402Z,1628955624.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00780,186,80,80,A8,FF
2021-08-14T15:40:24.403Z,1628955624.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:24.830Z,1628955624.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154025.35*5F

2021-08-14T15:40:24.846Z,1628955624.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.700005 m, bearing: 261.765415 deg, deltaT: 4.514735 s, approachRate: 0.717651 m/s, LOS rate: -0.128703 deg/s, posRepo size: 4
2021-08-14T15:40:27.307Z,1628955627.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:27.626Z,1628955627.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:27.626Z,1628955627.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:27.626Z,1628955627.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:27.627Z,1628955627.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:28.033Z,1628955628.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,00780,186,80,80,A8,FF
2021-08-14T15:40:28.033Z,1628955628.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:28.034Z,1628955628.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:28.035Z,1628955628.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:28.451Z,1628955628.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:28.866Z,1628955628.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,007B0,186,80,80,98,FF
2021-08-14T15:40:28.867Z,1628955628.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:29.316Z,1628955629.316 [Micromodem](INFO): Nmea in: $SNTTA,0.059295,,,,154029.81*40

2021-08-14T15:40:29.401Z,1628955629.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.580009 m, bearing: 259.855367 deg, deltaT: 4.408748 s, approachRate: 0.653248 m/s, LOS rate: -0.433241 deg/s, posRepo size: 4
2021-08-14T15:40:31.726Z,1628955631.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:32.065Z,1628955632.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:32.065Z,1628955632.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:32.065Z,1628955632.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:32.066Z,1628955632.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:32.482Z,1628955632.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,007B0,186,80,80,98,FF
2021-08-14T15:40:32.482Z,1628955632.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:32.482Z,1628955632.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:32.483Z,1628955632.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:32.885Z,1628955632.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:33.334Z,1628955633.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,007E0,186,80,80,99,FF
2021-08-14T15:40:33.335Z,1628955633.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:33.714Z,1628955633.714 [Micromodem](INFO): Nmea in: $SNTTA,0.071600,,,,154034.26*43

2021-08-14T15:40:33.736Z,1628955633.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.460007 m, bearing: 258.871601 deg, deltaT: 4.565874 s, approachRate: 0.630766 m/s, LOS rate: -0.215461 deg/s, posRepo size: 4
2021-08-14T15:40:35.997Z,1628955635.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:36.157Z,1628955636.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:36.157Z,1628955636.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:36.157Z,1628955636.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:36.158Z,1628955636.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:36.573Z,1628955636.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,007E0,186,80,80,99,FF
2021-08-14T15:40:36.574Z,1628955636.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:36.575Z,1628955636.575 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:36.578Z,1628955636.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:36.985Z,1628955636.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:37.395Z,1628955637.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F18,000,0080E,186,80,80,A0,FF
2021-08-14T15:40:37.395Z,1628955637.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:37.420Z,1628955637.420 [Micromodem](INFO): Nmea in: $SNTTA,0.068294,0.290468,,,154038.35*53

2021-08-14T15:40:37.808Z,1628955637.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 260.056966 deg, deltaT: 4.070767 s, approachRate: 0.678004 m/s, LOS rate: 0.291190 deg/s, posRepo size: 4
2021-08-14T15:40:40.234Z,1628955640.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:40.610Z,1628955640.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:40.611Z,1628955640.611 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:40.611Z,1628955640.611 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:40.612Z,1628955640.612 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:41.021Z,1628955641.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F18,000,0080E,186,80,80,A0,FF
2021-08-14T15:40:41.021Z,1628955641.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:41.021Z,1628955641.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:41.023Z,1628955641.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:41.427Z,1628955641.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:41.817Z,1628955641.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,00845,185,80,80,A2,FF
2021-08-14T15:40:41.817Z,1628955641.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:42.253Z,1628955642.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154042.80*50

2021-08-14T15:40:42.308Z,1628955642.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.519997 m, bearing: 261.899833 deg, deltaT: 4.345786 s, approachRate: 0.759355 m/s, LOS rate: 0.424058 deg/s, posRepo size: 4
2021-08-14T15:40:44.707Z,1628955644.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:45.049Z,1628955645.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:45.049Z,1628955645.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:45.049Z,1628955645.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:45.050Z,1628955645.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:45.457Z,1628955645.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,00845,185,80,80,A2,FF
2021-08-14T15:40:45.457Z,1628955645.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:45.457Z,1628955645.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:45.459Z,1628955645.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:45.865Z,1628955645.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:46.284Z,1628955646.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFE,000,00877,186,80,80,94,FF
2021-08-14T15:40:46.284Z,1628955646.284 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:46.698Z,1628955646.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154047.23*5C

2021-08-14T15:40:46.713Z,1628955646.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.520004 m, bearing: 261.240338 deg, deltaT: 4.496240 s, approachRate: 0.667226 m/s, LOS rate: -0.146677 deg/s, posRepo size: 4
2021-08-14T15:40:49.114Z,1628955649.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:49.500Z,1628955649.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:49.500Z,1628955649.500 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:49.500Z,1628955649.500 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:49.501Z,1628955649.501 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:49.893Z,1628955649.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFE,000,00877,186,80,80,94,FF
2021-08-14T15:40:49.893Z,1628955649.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:49.893Z,1628955649.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:49.895Z,1628955649.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:50.305Z,1628955650.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:50.741Z,1628955650.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,008AB,186,80,80,91,FF
2021-08-14T15:40:50.741Z,1628955650.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:51.141Z,1628955651.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154051.67*5B

2021-08-14T15:40:51.193Z,1628955651.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.640007 m, bearing: 260.115870 deg, deltaT: 4.448557 s, approachRate: 0.701352 m/s, LOS rate: -0.252771 deg/s, posRepo size: 4
2021-08-14T15:40:53.612Z,1628955653.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:53.941Z,1628955653.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:53.941Z,1628955653.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:53.942Z,1628955653.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:53.942Z,1628955653.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:54.337Z,1628955654.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,008AB,186,80,80,91,FF
2021-08-14T15:40:54.337Z,1628955654.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:54.337Z,1628955654.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:54.339Z,1628955654.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:54.741Z,1628955654.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:55.142Z,1628955655.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,008DF,186,80,80,92,FF
2021-08-14T15:40:55.142Z,1628955655.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:40:55.589Z,1628955655.589 [Micromodem](INFO): Nmea in: $SNTTA,0.070801,,,,154056.11*4D

2021-08-14T15:40:55.683Z,1628955655.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.759995 m, bearing: 260.262337 deg, deltaT: 4.368889 s, approachRate: 0.714137 m/s, LOS rate: 0.033525 deg/s, posRepo size: 4
2021-08-14T15:40:57.999Z,1628955657.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:40:58.377Z,1628955658.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:40:58.377Z,1628955658.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:40:58.377Z,1628955658.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:40:58.378Z,1628955658.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:40:58.781Z,1628955658.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,008DF,186,80,80,92,FF
2021-08-14T15:40:58.781Z,1628955658.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:40:58.781Z,1628955658.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:40:58.783Z,1628955658.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:40:59.195Z,1628955659.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:40:59.589Z,1628955659.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00910,187,80,80,8F,FF
2021-08-14T15:40:59.590Z,1628955659.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:00.038Z,1628955660.038 [Micromodem](INFO): Nmea in: $SNTTA,0.069875,,,,154100.56*47

2021-08-14T15:41:00.054Z,1628955660.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.699997 m, bearing: 259.444517 deg, deltaT: 4.504452 s, approachRate: 0.652688 m/s, LOS rate: -0.181558 deg/s, posRepo size: 4
2021-08-14T15:41:02.461Z,1628955662.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:02.825Z,1628955662.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:02.825Z,1628955662.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:02.825Z,1628955662.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:02.826Z,1628955662.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:03.225Z,1628955663.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00910,187,80,80,8F,FF
2021-08-14T15:41:03.225Z,1628955663.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:03.225Z,1628955663.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:03.227Z,1628955663.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:03.636Z,1628955663.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:04.033Z,1628955664.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00944,186,80,80,82,FF
2021-08-14T15:41:04.034Z,1628955664.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:04.477Z,1628955664.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154105.00*5A

2021-08-14T15:41:04.515Z,1628955664.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.820000 m, bearing: 260.019892 deg, deltaT: 4.362002 s, approachRate: 0.715269 m/s, LOS rate: 0.131906 deg/s, posRepo size: 4
2021-08-14T15:41:06.878Z,1628955666.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:07.289Z,1628955667.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:07.290Z,1628955667.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:07.290Z,1628955667.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:07.296Z,1628955667.296 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:07.678Z,1628955667.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00944,186,80,80,82,FF
2021-08-14T15:41:07.678Z,1628955667.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:07.678Z,1628955667.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:07.685Z,1628955667.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:08.091Z,1628955668.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:08.933Z,1628955668.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154109.46*54

2021-08-14T15:41:09.383Z,1628955669.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:09.693Z,1628955669.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,039B9,186,80,80,60,FF
2021-08-14T15:41:09.694Z,1628955669.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:10.128Z,1628955670.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 849.120056 m, bearing: 258.388898 deg, deltaT: 5.706320 s, approachRate: 130.434341 m/s, LOS rate: -0.285822 deg/s, posRepo size: 4
2021-08-14T15:41:10.129Z,1628955670.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 849.12 m. Resuming terminal guidance.
2021-08-14T15:41:10.130Z,1628955670.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:41:12.554Z,1628955672.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:12.934Z,1628955672.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:12.934Z,1628955672.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:12.934Z,1628955672.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:12.935Z,1628955672.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:13.354Z,1628955673.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,039B9,186,80,80,60,FF
2021-08-14T15:41:13.354Z,1628955673.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:13.354Z,1628955673.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:13.356Z,1628955673.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:13.744Z,1628955673.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:14.145Z,1628955674.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,009B4,187,80,80,70,FF
2021-08-14T15:41:14.146Z,1628955674.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:14.570Z,1628955674.570 [Micromodem](INFO): Nmea in: $SNTTA,0.087346,,,,154115.13*49

2021-08-14T15:41:14.617Z,1628955674.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.540001 m, bearing: 260.314355 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:41:14.618Z,1628955674.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 260.314355deg and heading rate command to 0 deg/s.
2021-08-14T15:41:16.997Z,1628955676.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:17.377Z,1628955677.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:17.377Z,1628955677.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:17.377Z,1628955677.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:17.378Z,1628955677.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:17.777Z,1628955677.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,009B4,187,80,80,70,FF
2021-08-14T15:41:17.777Z,1628955677.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:17.777Z,1628955677.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:17.779Z,1628955677.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:18.189Z,1628955678.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:19.018Z,1628955679.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154119.55*57

2021-08-14T15:41:19.822Z,1628955679.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:21.409Z,1628955681.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,70,FF
2021-08-14T15:41:21.409Z,1628955681.409 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,70,FF
2021-08-14T15:41:21.409Z,1628955681.409 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:41:22.693Z,1628955682.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:23.025Z,1628955683.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:23.025Z,1628955683.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:23.025Z,1628955683.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:23.026Z,1628955683.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:23.433Z,1628955683.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,70,FF
2021-08-14T15:41:23.433Z,1628955683.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:23.433Z,1628955683.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:23.435Z,1628955683.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:23.868Z,1628955683.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:24.245Z,1628955684.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,00A38,186,80,80,2F,FF
2021-08-14T15:41:24.245Z,1628955684.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:24.697Z,1628955684.697 [Micromodem](INFO): Nmea in: $SNTTA,0.078504,,,,154125.21*4B

2021-08-14T15:41:24.755Z,1628955684.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.459999 m, bearing: 286.076900 deg, deltaT: 10.144346 s, approachRate: 0.780730 m/s, LOS rate: 2.539596 deg/s, posRepo size: 2
2021-08-14T15:41:24.761Z,1628955684.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.459999 m,
      bearing: 286.076900 deg,
      approachRate: 0.780730 m/s,
      LOS rate: 2.539596 deg/s,
      cmd update: 7.618789 deg/s,
      cmd heading: 260.314355 deg,
      new cmd heading: 260.314355 deg.

2021-08-14T15:41:27.099Z,1628955687.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:27.481Z,1628955687.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:27.481Z,1628955687.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:27.481Z,1628955687.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:27.482Z,1628955687.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:27.881Z,1628955687.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,00A38,186,80,80,2F,FF
2021-08-14T15:41:27.881Z,1628955687.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:27.881Z,1628955687.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:27.883Z,1628955687.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:28.328Z,1628955688.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:28.697Z,1628955688.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00A65,187,80,80,2F,FF
2021-08-14T15:41:28.697Z,1628955688.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:29.125Z,1628955689.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154129.66*54

2021-08-14T15:41:29.156Z,1628955689.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.160004 m, bearing: 289.710643 deg, deltaT: 4.422539 s, approachRate: 0.610510 m/s, LOS rate: 0.821642 deg/s, posRepo size: 3
2021-08-14T15:41:29.158Z,1628955689.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.160004 m,
      bearing: 289.710643 deg,
      approachRate: 0.610510 m/s,
      LOS rate: 0.821642 deg/s,
      cmd update: 2.464925 deg/s,
      cmd heading: 293.887426 deg,
      new cmd heading: 297.256127 deg.

2021-08-14T15:41:31.609Z,1628955691.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:31.925Z,1628955691.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:31.925Z,1628955691.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:31.925Z,1628955691.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:31.926Z,1628955691.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:32.330Z,1628955692.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00A65,187,80,80,2F,FF
2021-08-14T15:41:32.330Z,1628955692.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:32.330Z,1628955692.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:32.332Z,1628955692.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:32.736Z,1628955692.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:33.145Z,1628955693.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,00A7D,186,80,80,8F,FF
2021-08-14T15:41:33.145Z,1628955693.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:33.581Z,1628955693.581 [Micromodem](INFO): Nmea in: $SNTTA,,0.375202,,,154134.10*46

2021-08-14T15:41:33.659Z,1628955693.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 298.538908 deg, deltaT: 4.466524 s, approachRate: 0.322399 m/s, LOS rate: 1.976540 deg/s, posRepo size: 4
2021-08-14T15:41:33.666Z,1628955693.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.600006 m,
      bearing: 298.538908 deg,
      approachRate: 0.322399 m/s,
      LOS rate: 1.976540 deg/s,
      cmd update: 5.929621 deg/s,
      cmd heading: 304.926352 deg,
      new cmd heading: 306.073864 deg.

2021-08-14T15:41:33.977Z,1628955693.977 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:41:35.987Z,1628955695.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:36.365Z,1628955696.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:36.365Z,1628955696.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:36.365Z,1628955696.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:36.366Z,1628955696.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:36.773Z,1628955696.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,00A7D,186,80,80,8F,FF
2021-08-14T15:41:36.773Z,1628955696.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:36.773Z,1628955696.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:36.775Z,1628955696.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:37.180Z,1628955697.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:37.589Z,1628955697.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00AA0,186,80,80,93,FF
2021-08-14T15:41:37.590Z,1628955697.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:38.013Z,1628955698.013 [Micromodem](INFO): Nmea in: $SNTTA,,0.191520,,,154138.55*44

2021-08-14T15:41:38.054Z,1628955698.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.700005 m, bearing: 312.571914 deg, deltaT: 4.505240 s, approachRate: 0.466124 m/s, LOS rate: 3.114819 deg/s, posRepo size: 4
2021-08-14T15:41:38.056Z,1628955698.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.700005 m,
      bearing: 312.571914 deg,
      approachRate: 0.466124 m/s,
      LOS rate: 3.114819 deg/s,
      cmd update: 9.344456 deg/s,
      cmd heading: 331.690533 deg,
      new cmd heading: 333.752096 deg.

2021-08-14T15:41:40.440Z,1628955700.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:40.817Z,1628955700.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:40.817Z,1628955700.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:40.817Z,1628955700.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:40.818Z,1628955700.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:41.213Z,1628955701.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00AA0,186,80,80,93,FF
2021-08-14T15:41:41.213Z,1628955701.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:41.213Z,1628955701.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:41.215Z,1628955701.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:41.640Z,1628955701.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:41.670Z,1628955701.670 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:41:42.029Z,1628955702.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,00AB0,186,80,80,88,FF
2021-08-14T15:41:42.029Z,1628955702.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:42.461Z,1628955702.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154142.99*59

2021-08-14T15:41:42.507Z,1628955702.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.660004 m, bearing: 300.665856 deg, deltaT: 4.340129 s, approachRate: 0.221191 m/s, LOS rate: -2.743250 deg/s, posRepo size: 4
2021-08-14T15:41:42.509Z,1628955702.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.660004 m,
      bearing: 300.665856 deg,
      approachRate: 0.221191 m/s,
      LOS rate: -2.743250 deg/s,
      cmd update: -8.229750 deg/s,
      cmd heading: 12.246678 deg,
      new cmd heading: 16.549641 deg.

2021-08-14T15:41:44.910Z,1628955704.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:45.260Z,1628955705.260 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:45.261Z,1628955705.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:45.262Z,1628955705.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:45.263Z,1628955705.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:45.674Z,1628955705.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,00AB0,186,80,80,88,FF
2021-08-14T15:41:45.674Z,1628955705.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:45.674Z,1628955705.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:45.679Z,1628955705.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:46.064Z,1628955706.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:46.478Z,1628955706.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,00AB1,189,80,80,A2,FF
2021-08-14T15:41:46.479Z,1628955706.479 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:46.899Z,1628955706.899 [Micromodem](INFO): Nmea in: $SNTTA,0.084080,,,,154147.46*44

2021-08-14T15:41:46.919Z,1628955706.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.720001 m, bearing: 14.922109 deg, deltaT: 4.488917 s, approachRate: 0.013366 m/s, LOS rate: 16.542131 deg/s, posRepo size: 4
2021-08-14T15:41:46.920Z,1628955706.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.542131 deg/s. Setting heading cmd to target bearing of 14.922109deg and heading rate command to 0 deg/s.
2021-08-14T15:41:49.365Z,1628955709.365 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T15:41:49.422Z,1628955709.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:49.709Z,1628955709.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:49.710Z,1628955709.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:49.710Z,1628955709.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:49.711Z,1628955709.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:50.101Z,1628955710.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,00AB1,189,80,80,A2,FF
2021-08-14T15:41:50.101Z,1628955710.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:50.101Z,1628955710.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:50.103Z,1628955710.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:50.515Z,1628955710.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:50.913Z,1628955710.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00AAA,189,80,80,4F,FF
2021-08-14T15:41:50.914Z,1628955710.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:51.377Z,1628955711.377 [Micromodem](INFO): Nmea in: $SNTTA,0.086146,,,,154151.88*48

2021-08-14T15:41:51.465Z,1628955711.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.300003 m, bearing: 323.112808 deg, deltaT: 4.461098 s, approachRate: -0.094147 m/s, LOS rate: -11.613576 deg/s, posRepo size: 4
2021-08-14T15:41:51.466Z,1628955711.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.613576 deg/s. Setting heading cmd to target bearing of 323.112808deg and heading rate command to 0 deg/s.
2021-08-14T15:41:53.395Z,1628955713.395 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T15:41:53.800Z,1628955713.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:54.141Z,1628955714.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:54.141Z,1628955714.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:54.141Z,1628955714.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:54.142Z,1628955714.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:54.545Z,1628955714.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,00AAA,189,80,80,4F,FF
2021-08-14T15:41:54.545Z,1628955714.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:54.545Z,1628955714.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:54.548Z,1628955714.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:54.953Z,1628955714.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:55.377Z,1628955715.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A97,189,80,80,A5,FF
2021-08-14T15:41:55.378Z,1628955715.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:41:55.793Z,1628955715.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154156.32*5D

2021-08-14T15:41:55.835Z,1628955715.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.159996 m, bearing: 66.598852 deg, deltaT: 4.505551 s, approachRate: -0.253023 m/s, LOS rate: 22.968565 deg/s, posRepo size: 4
2021-08-14T15:41:55.836Z,1628955715.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.968565 deg/s. Setting heading cmd to target bearing of 66.598852deg and heading rate command to 0 deg/s.
2021-08-14T15:41:58.207Z,1628955718.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:41:58.595Z,1628955718.595 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:41:58.595Z,1628955718.595 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:41:58.595Z,1628955718.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:41:58.596Z,1628955718.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:41:59.005Z,1628955719.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A97,189,80,80,A5,FF
2021-08-14T15:41:59.005Z,1628955719.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:41:59.005Z,1628955719.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:41:59.007Z,1628955719.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:41:59.061Z,1628955719.061 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T15:41:59.417Z,1628955719.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:41:59.809Z,1628955719.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A83,189,80,80,86,FF
2021-08-14T15:41:59.810Z,1628955719.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:00.256Z,1628955720.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154200.78*53

2021-08-14T15:42:00.328Z,1628955720.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.959999 m, bearing: 69.175555 deg, deltaT: 4.344189 s, approachRate: -0.276230 m/s, LOS rate: 0.593138 deg/s, posRepo size: 4
2021-08-14T15:42:00.330Z,1628955720.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.959999 m,
      bearing: 69.175555 deg,
      approachRate: -0.276230 m/s,
      LOS rate: 0.593138 deg/s,
      cmd update: 1.779413 deg/s,
      cmd heading: 66.598852 deg,
      new cmd heading: 66.598852 deg.

2021-08-14T15:42:01.447Z,1628955721.447 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:42:02.705Z,1628955722.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:03.041Z,1628955723.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:03.041Z,1628955723.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:03.042Z,1628955723.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:03.042Z,1628955723.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:03.452Z,1628955723.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A83,189,80,80,86,FF
2021-08-14T15:42:03.452Z,1628955723.452 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:03.453Z,1628955723.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:03.454Z,1628955723.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:03.849Z,1628955723.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:04.679Z,1628955724.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154205.23*58

2021-08-14T15:42:05.540Z,1628955725.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:07.082Z,1628955727.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,86,FF
2021-08-14T15:42:07.082Z,1628955727.082 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,86,FF
2021-08-14T15:42:07.083Z,1628955727.083 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:42:08.353Z,1628955728.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:08.705Z,1628955728.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:08.705Z,1628955728.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:08.705Z,1628955728.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:08.706Z,1628955728.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:09.109Z,1628955729.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,86,FF
2021-08-14T15:42:09.109Z,1628955729.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:09.109Z,1628955729.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:09.111Z,1628955729.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:09.508Z,1628955729.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:09.539Z,1628955729.539 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T15:42:09.913Z,1628955729.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A6A,18A,80,80,A6,FF
2021-08-14T15:42:09.914Z,1628955729.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:10.345Z,1628955730.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154210.88*5D

2021-08-14T15:42:10.388Z,1628955730.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.460007 m, bearing: 75.114520 deg, deltaT: 10.084786 s, approachRate: -0.148738 m/s, LOS rate: 0.588903 deg/s, posRepo size: 4
2021-08-14T15:42:10.390Z,1628955730.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.460007 m,
      bearing: 75.114520 deg,
      approachRate: -0.148738 m/s,
      LOS rate: 0.588903 deg/s,
      cmd update: 1.766710 deg/s,
      cmd heading: 84.579069 deg,
      new cmd heading: 85.392236 deg.

2021-08-14T15:42:12.782Z,1628955732.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:13.137Z,1628955733.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:13.137Z,1628955733.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:13.137Z,1628955733.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:13.138Z,1628955733.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:13.549Z,1628955733.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A6A,18A,80,80,A6,FF
2021-08-14T15:42:13.549Z,1628955733.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:13.549Z,1628955733.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:13.551Z,1628955733.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:13.965Z,1628955733.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:14.349Z,1628955734.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,00A50,188,80,80,B2,FF
2021-08-14T15:42:14.349Z,1628955734.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:14.778Z,1628955734.778 [Micromodem](INFO): Nmea in: $SNTTA,0.080306,,,,154215.32*4A

2021-08-14T15:42:14.824Z,1628955734.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 69.715031 deg, deltaT: 4.436660 s, approachRate: -0.351617 m/s, LOS rate: -1.217017 deg/s, posRepo size: 4
2021-08-14T15:42:14.826Z,1628955734.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.900002 m,
      bearing: 69.715031 deg,
      approachRate: -0.351617 m/s,
      LOS rate: -1.217017 deg/s,
      cmd update: -3.651051 deg/s,
      cmd heading: 92.416531 deg,
      new cmd heading: 93.181211 deg.

2021-08-14T15:42:15.582Z,1628955735.582 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:42:17.199Z,1628955737.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:17.585Z,1628955737.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:17.585Z,1628955737.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:17.585Z,1628955737.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:17.586Z,1628955737.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:17.990Z,1628955737.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,00A50,188,80,80,B2,FF
2021-08-14T15:42:17.990Z,1628955737.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:17.991Z,1628955737.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:17.992Z,1628955737.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:18.388Z,1628955738.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:18.797Z,1628955738.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6D,000,00A2B,18A,80,80,8A,FF
2021-08-14T15:42:18.797Z,1628955738.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:19.233Z,1628955739.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154219.77*54

2021-08-14T15:42:19.368Z,1628955739.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.680000 m, bearing: 79.439984 deg, deltaT: 4.446994 s, approachRate: -0.499214 m/s, LOS rate: 2.186860 deg/s, posRepo size: 4
2021-08-14T15:42:19.370Z,1628955739.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.680000 m,
      bearing: 79.439984 deg,
      approachRate: -0.499214 m/s,
      LOS rate: 2.186860 deg/s,
      cmd update: 6.560579 deg/s,
      cmd heading: 76.178680 deg,
      new cmd heading: 74.158407 deg.

2021-08-14T15:42:21.717Z,1628955741.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:22.021Z,1628955742.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:22.021Z,1628955742.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:22.021Z,1628955742.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:22.022Z,1628955742.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:22.425Z,1628955742.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6D,000,00A2B,18A,80,80,8A,FF
2021-08-14T15:42:22.425Z,1628955742.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:22.425Z,1628955742.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:22.427Z,1628955742.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:22.832Z,1628955742.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:23.246Z,1628955743.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00A02,187,80,80,99,FF
2021-08-14T15:42:23.247Z,1628955743.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:23.684Z,1628955743.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154224.20*58

2021-08-14T15:42:23.755Z,1628955743.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.220001 m, bearing: 75.506027 deg, deltaT: 4.547718 s, approachRate: -0.540930 m/s, LOS rate: -0.865040 deg/s, posRepo size: 4
2021-08-14T15:42:23.757Z,1628955743.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.220001 m,
      bearing: 75.506027 deg,
      approachRate: -0.540930 m/s,
      LOS rate: -0.865040 deg/s,
      cmd update: -2.595119 deg/s,
      cmd heading: 105.987039 deg,
      new cmd heading: 108.573299 deg.

2021-08-14T15:42:26.098Z,1628955746.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:26.469Z,1628955746.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:26.469Z,1628955746.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:26.469Z,1628955746.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:26.470Z,1628955746.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:26.869Z,1628955746.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00A02,187,80,80,99,FF
2021-08-14T15:42:26.869Z,1628955746.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:26.870Z,1628955746.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:26.871Z,1628955746.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:27.325Z,1628955747.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:27.689Z,1628955747.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,009CB,185,80,80,76,FF
2021-08-14T15:42:27.690Z,1628955747.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:27.693Z,1628955747.693 [Micromodem](INFO): Nmea in: $SNTTA,0.142881,0.142931,,,154228.65*5F

2021-08-14T15:42:28.131Z,1628955748.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 73.744596 deg, deltaT: 4.346680 s, approachRate: -0.759199 m/s, LOS rate: -0.405236 deg/s, posRepo size: 4
2021-08-14T15:42:28.134Z,1628955748.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 73.744596 deg,
      approachRate: -0.759199 m/s,
      LOS rate: -0.405236 deg/s,
      cmd update: -1.215708 deg/s,
      cmd heading: 94.696184 deg,
      new cmd heading: 93.598864 deg.

2021-08-14T15:42:30.534Z,1628955750.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:30.921Z,1628955750.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:30.921Z,1628955750.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:30.922Z,1628955750.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:30.923Z,1628955750.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:31.361Z,1628955751.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,009CB,185,80,80,76,FF
2021-08-14T15:42:31.361Z,1628955751.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:31.361Z,1628955751.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:31.363Z,1628955751.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:31.776Z,1628955751.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:32.165Z,1628955752.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0099D,189,80,80,78,FF
2021-08-14T15:42:32.165Z,1628955752.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:32.610Z,1628955752.610 [Micromodem](INFO): Nmea in: $SNTTA,0.107960,,,,154233.14*4E

2021-08-14T15:42:32.632Z,1628955752.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.160004 m, bearing: 65.626069 deg, deltaT: 4.579121 s, approachRate: -0.602736 m/s, LOS rate: -1.772944 deg/s, posRepo size: 4
2021-08-14T15:42:32.634Z,1628955752.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.160004 m,
      bearing: 65.626069 deg,
      approachRate: -0.602736 m/s,
      LOS rate: -1.772944 deg/s,
      cmd update: -5.318833 deg/s,
      cmd heading: 89.133932 deg,
      new cmd heading: 88.711173 deg.

2021-08-14T15:42:35.011Z,1628955755.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:35.393Z,1628955755.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:35.393Z,1628955755.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:35.393Z,1628955755.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:35.394Z,1628955755.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:35.825Z,1628955755.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,0099D,189,80,80,78,FF
2021-08-14T15:42:35.825Z,1628955755.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:35.825Z,1628955755.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:35.827Z,1628955755.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:36.201Z,1628955756.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:36.614Z,1628955756.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00968,189,80,80,82,FF
2021-08-14T15:42:36.614Z,1628955756.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:37.033Z,1628955757.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154237.60*5E

2021-08-14T15:42:37.071Z,1628955757.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 65.283495 deg, deltaT: 4.348290 s, approachRate: -0.731322 m/s, LOS rate: -0.078784 deg/s, posRepo size: 4
2021-08-14T15:42:37.091Z,1628955757.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 65.283495 deg,
      approachRate: -0.731322 m/s,
      LOS rate: -0.078784 deg/s,
      cmd update: -0.236352 deg/s,
      cmd heading: 65.985466 deg,
      new cmd heading: 63.669577 deg.

2021-08-14T15:42:39.517Z,1628955759.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:39.849Z,1628955759.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:39.849Z,1628955759.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:39.849Z,1628955759.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:39.850Z,1628955759.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:40.253Z,1628955760.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00968,189,80,80,82,FF
2021-08-14T15:42:40.253Z,1628955760.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:40.254Z,1628955760.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:40.260Z,1628955760.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:40.651Z,1628955760.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:41.053Z,1628955761.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,00935,186,80,80,88,FF
2021-08-14T15:42:41.053Z,1628955761.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:41.489Z,1628955761.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154242.03*59

2021-08-14T15:42:41.576Z,1628955761.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 70.627127 deg, deltaT: 4.434430 s, approachRate: -0.690056 m/s, LOS rate: 1.205033 deg/s, posRepo size: 4
2021-08-14T15:42:41.578Z,1628955761.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 70.627127 deg,
      approachRate: -0.690056 m/s,
      LOS rate: 1.205033 deg/s,
      cmd update: 3.615098 deg/s,
      cmd heading: 64.937346 deg,
      new cmd heading: 64.818932 deg.

2021-08-14T15:42:43.895Z,1628955763.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:44.281Z,1628955764.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:44.281Z,1628955764.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:44.281Z,1628955764.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:44.282Z,1628955764.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:44.694Z,1628955764.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,00935,186,80,80,88,FF
2021-08-14T15:42:44.694Z,1628955764.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:44.694Z,1628955764.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:44.696Z,1628955764.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:45.093Z,1628955765.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:45.498Z,1628955765.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00900,184,80,80,A7,FF
2021-08-14T15:42:45.498Z,1628955765.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:45.941Z,1628955765.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154246.47*5D

2021-08-14T15:42:45.985Z,1628955765.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.740005 m, bearing: 73.284767 deg, deltaT: 4.481231 s, approachRate: -0.709625 m/s, LOS rate: 0.593060 deg/s, posRepo size: 4
2021-08-14T15:42:45.987Z,1628955765.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.740005 m,
      bearing: 73.284767 deg,
      approachRate: -0.709625 m/s,
      LOS rate: 0.593060 deg/s,
      cmd update: 1.779181 deg/s,
      cmd heading: 81.079351 deg,
      new cmd heading: 82.700947 deg.

2021-08-14T15:42:48.358Z,1628955768.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:48.733Z,1628955768.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:48.733Z,1628955768.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:48.733Z,1628955768.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:48.734Z,1628955768.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:49.137Z,1628955769.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00900,184,80,80,A7,FF
2021-08-14T15:42:49.137Z,1628955769.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:49.137Z,1628955769.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:49.139Z,1628955769.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:49.533Z,1628955769.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:49.945Z,1628955769.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,008CF,186,80,80,A7,FF
2021-08-14T15:42:49.945Z,1628955769.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:50.377Z,1628955770.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154250.91*51

2021-08-14T15:42:50.425Z,1628955770.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.800003 m, bearing: 70.699165 deg, deltaT: 4.434592 s, approachRate: -0.662970 m/s, LOS rate: -0.583053 deg/s, posRepo size: 4
2021-08-14T15:42:50.427Z,1628955770.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.800003 m,
      bearing: 70.699165 deg,
      approachRate: -0.662970 m/s,
      LOS rate: -0.583053 deg/s,
      cmd update: -1.749159 deg/s,
      cmd heading: 88.961970 deg,
      new cmd heading: 89.777991 deg.

2021-08-14T15:42:52.794Z,1628955772.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:53.177Z,1628955773.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:53.178Z,1628955773.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:53.178Z,1628955773.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:53.179Z,1628955773.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:53.573Z,1628955773.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,008CF,186,80,80,A7,FF
2021-08-14T15:42:53.573Z,1628955773.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:53.573Z,1628955773.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:53.575Z,1628955773.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:53.985Z,1628955773.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:54.381Z,1628955774.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,0089C,189,80,80,84,FF
2021-08-14T15:42:54.381Z,1628955774.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:54.821Z,1628955774.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154255.35*5A

2021-08-14T15:42:54.903Z,1628955774.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.740005 m, bearing: 63.099186 deg, deltaT: 4.411616 s, approachRate: -0.693623 m/s, LOS rate: -1.722720 deg/s, posRepo size: 4
2021-08-14T15:42:54.909Z,1628955774.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.740005 m,
      bearing: 63.099186 deg,
      approachRate: -0.693623 m/s,
      LOS rate: -1.722720 deg/s,
      cmd update: -5.168160 deg/s,
      cmd heading: 81.209990 deg,
      new cmd heading: 80.327501 deg.

2021-08-14T15:42:57.329Z,1628955777.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:42:57.613Z,1628955777.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:42:57.613Z,1628955777.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:42:57.613Z,1628955777.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:42:57.614Z,1628955777.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:42:58.021Z,1628955778.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,0089C,189,80,80,84,FF
2021-08-14T15:42:58.021Z,1628955778.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:42:58.021Z,1628955778.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:42:58.023Z,1628955778.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:42:58.433Z,1628955778.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:42:58.831Z,1628955778.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,0086A,186,80,80,9F,FF
2021-08-14T15:42:58.831Z,1628955778.831 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:42:59.293Z,1628955779.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154259.80*58

2021-08-14T15:42:59.380Z,1628955779.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 67.719639 deg, deltaT: 4.449943 s, approachRate: -0.674168 m/s, LOS rate: 1.038317 deg/s, posRepo size: 4
2021-08-14T15:42:59.382Z,1628955779.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 67.719639 deg,
      approachRate: -0.674168 m/s,
      LOS rate: 1.038317 deg/s,
      cmd update: 3.114951 deg/s,
      cmd heading: 58.212118 deg,
      new cmd heading: 55.464729 deg.

2021-08-14T15:43:01.743Z,1628955781.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:02.065Z,1628955782.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:02.065Z,1628955782.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:02.065Z,1628955782.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:02.066Z,1628955782.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:02.465Z,1628955782.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,0086A,186,80,80,9F,FF
2021-08-14T15:43:02.465Z,1628955782.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:02.465Z,1628955782.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:02.467Z,1628955782.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:02.877Z,1628955782.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:03.295Z,1628955783.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00839,184,80,80,AF,FF
2021-08-14T15:43:03.297Z,1628955783.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:03.717Z,1628955783.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154304.24*5F

2021-08-14T15:43:03.739Z,1628955783.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.800003 m, bearing: 71.911285 deg, deltaT: 4.524727 s, approachRate: -0.649762 m/s, LOS rate: 0.926387 deg/s, posRepo size: 4
2021-08-14T15:43:03.742Z,1628955783.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.800003 m,
      bearing: 71.911285 deg,
      approachRate: -0.649762 m/s,
      LOS rate: 0.926387 deg/s,
      cmd update: 2.779160 deg/s,
      cmd heading: 72.280867 deg,
      new cmd heading: 73.448453 deg.

2021-08-14T15:43:06.123Z,1628955786.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:06.497Z,1628955786.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:06.498Z,1628955786.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:06.498Z,1628955786.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:06.499Z,1628955786.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:06.913Z,1628955786.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00839,184,80,80,AF,FF
2021-08-14T15:43:06.913Z,1628955786.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:06.913Z,1628955786.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:06.915Z,1628955786.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:07.353Z,1628955787.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:07.721Z,1628955787.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,0080D,183,80,80,B5,FF
2021-08-14T15:43:07.721Z,1628955787.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:08.153Z,1628955788.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154308.69*5A

2021-08-14T15:43:08.184Z,1628955788.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.159996 m, bearing: 71.837204 deg, deltaT: 4.365871 s, approachRate: -0.604692 m/s, LOS rate: -0.016968 deg/s, posRepo size: 4
2021-08-14T15:43:08.186Z,1628955788.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.159996 m,
      bearing: 71.837204 deg,
      approachRate: -0.604692 m/s,
      LOS rate: -0.016968 deg/s,
      cmd update: -0.050904 deg/s,
      cmd heading: 84.437144 deg,
      new cmd heading: 85.674937 deg.

2021-08-14T15:43:10.589Z,1628955790.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:10.957Z,1628955790.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:10.957Z,1628955790.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:10.957Z,1628955790.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:10.958Z,1628955790.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:11.354Z,1628955791.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,0080D,183,80,80,B5,FF
2021-08-14T15:43:11.354Z,1628955791.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:11.354Z,1628955791.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:11.356Z,1628955791.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:11.792Z,1628955791.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:12.165Z,1628955792.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,007D7,186,80,80,A2,FF
2021-08-14T15:43:12.165Z,1628955792.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:12.609Z,1628955792.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154313.13*5D

2021-08-14T15:43:12.632Z,1628955792.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 66.857751 deg, deltaT: 4.443647 s, approachRate: -0.729130 m/s, LOS rate: -1.120578 deg/s, posRepo size: 4
2021-08-14T15:43:12.634Z,1628955792.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.919998 m,
      bearing: 66.857751 deg,
      approachRate: -0.729130 m/s,
      LOS rate: -1.120578 deg/s,
      cmd update: -3.361734 deg/s,
      cmd heading: 84.210943 deg,
      new cmd heading: 84.188058 deg.

2021-08-14T15:43:15.023Z,1628955795.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:15.402Z,1628955795.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:15.402Z,1628955795.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:15.402Z,1628955795.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:15.403Z,1628955795.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:15.806Z,1628955795.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,007D7,186,80,80,A2,FF
2021-08-14T15:43:15.806Z,1628955795.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:15.806Z,1628955795.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:15.826Z,1628955795.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:16.209Z,1628955796.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:16.616Z,1628955796.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,007A9,188,80,80,A6,FF
2021-08-14T15:43:16.617Z,1628955796.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:17.027Z,1628955797.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154317.60*5D

2021-08-14T15:43:17.059Z,1628955797.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.160004 m, bearing: 62.782491 deg, deltaT: 4.500287 s, approachRate: -0.613293 m/s, LOS rate: -0.905556 deg/s, posRepo size: 4
2021-08-14T15:43:17.062Z,1628955797.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.160004 m,
      bearing: 62.782491 deg,
      approachRate: -0.613293 m/s,
      LOS rate: -0.905556 deg/s,
      cmd update: -2.716667 deg/s,
      cmd heading: 69.168769 deg,
      new cmd heading: 67.815227 deg.

2021-08-14T15:43:19.491Z,1628955799.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:19.838Z,1628955799.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:19.838Z,1628955799.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:19.838Z,1628955799.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:19.839Z,1628955799.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:20.246Z,1628955800.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,007A9,188,80,80,A6,FF
2021-08-14T15:43:20.247Z,1628955800.247 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:20.247Z,1628955800.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:20.251Z,1628955800.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:20.664Z,1628955800.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:21.049Z,1628955801.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,00775,186,80,80,B3,FF
2021-08-14T15:43:21.049Z,1628955801.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:21.495Z,1628955801.495 [Micromodem](INFO): Nmea in: $SNTTA,,0.454607,,,154322.02*45

2021-08-14T15:43:21.582Z,1628955801.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.040009 m, bearing: 67.221772 deg, deltaT: 4.418745 s, approachRate: -0.706082 m/s, LOS rate: 1.004648 deg/s, posRepo size: 4
2021-08-14T15:43:21.589Z,1628955801.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.040009 m,
      bearing: 67.221772 deg,
      approachRate: -0.706082 m/s,
      LOS rate: 1.004648 deg/s,
      cmd update: 3.013943 deg/s,
      cmd heading: 57.116948 deg,
      new cmd heading: 55.787528 deg.

2021-08-14T15:43:23.914Z,1628955803.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:24.300Z,1628955804.300 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:24.300Z,1628955804.300 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:24.300Z,1628955804.300 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:24.301Z,1628955804.301 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:24.693Z,1628955804.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,00775,186,80,80,B3,FF
2021-08-14T15:43:24.693Z,1628955804.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:24.693Z,1628955804.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:24.695Z,1628955804.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:25.097Z,1628955805.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:25.498Z,1628955805.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00740,184,80,80,A5,FF
2021-08-14T15:43:25.498Z,1628955805.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:25.929Z,1628955805.929 [Micromodem](INFO): Nmea in: $SNTTA,0.054987,,,,154326.47*43

2021-08-14T15:43:25.951Z,1628955805.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.860001 m, bearing: 69.541059 deg, deltaT: 4.515901 s, approachRate: -0.704180 m/s, LOS rate: 0.513582 deg/s, posRepo size: 4
2021-08-14T15:43:25.974Z,1628955805.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.860001 m,
      bearing: 69.541059 deg,
      approachRate: -0.704180 m/s,
      LOS rate: 0.513582 deg/s,
      cmd update: 1.540747 deg/s,
      cmd heading: 70.722627 deg,
      new cmd heading: 71.759918 deg.

2021-08-14T15:43:28.375Z,1628955808.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:28.725Z,1628955808.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:28.725Z,1628955808.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:28.725Z,1628955808.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:28.726Z,1628955808.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:29.129Z,1628955809.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00740,184,80,80,A5,FF
2021-08-14T15:43:29.129Z,1628955809.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:29.129Z,1628955809.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:29.131Z,1628955809.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:29.626Z,1628955809.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:30.013Z,1628955810.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00708,186,80,80,BF,FF
2021-08-14T15:43:30.013Z,1628955810.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:30.426Z,1628955810.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154330.91*56

2021-08-14T15:43:30.486Z,1628955810.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 69.616047 deg, deltaT: 4.433847 s, approachRate: -0.757807 m/s, LOS rate: 0.016913 deg/s, posRepo size: 4
2021-08-14T15:43:30.488Z,1628955810.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.500000 m,
      bearing: 69.616047 deg,
      approachRate: -0.757807 m/s,
      LOS rate: 0.016913 deg/s,
      cmd update: 0.050738 deg/s,
      cmd heading: 77.569232 deg,
      new cmd heading: 78.239030 deg.

2021-08-14T15:43:32.856Z,1628955812.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:33.247Z,1628955813.247 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:33.248Z,1628955813.248 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:33.249Z,1628955813.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:33.250Z,1628955813.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:33.637Z,1628955813.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00708,186,80,80,BF,FF
2021-08-14T15:43:33.637Z,1628955813.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:33.637Z,1628955813.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:33.639Z,1628955813.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:34.049Z,1628955814.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:34.449Z,1628955814.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,006D3,186,80,80,AD,FF
2021-08-14T15:43:34.450Z,1628955814.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:34.877Z,1628955814.877 [Micromodem](INFO): Nmea in: $SNTTA,0.044744,,,,154335.42*44

2021-08-14T15:43:34.919Z,1628955814.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.320007 m, bearing: 65.838625 deg, deltaT: 4.485877 s, approachRate: -0.708890 m/s, LOS rate: -0.842070 deg/s, posRepo size: 4
2021-08-14T15:43:34.921Z,1628955814.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.320007 m,
      bearing: 65.838625 deg,
      approachRate: -0.708890 m/s,
      LOS rate: -0.842070 deg/s,
      cmd update: -2.526210 deg/s,
      cmd heading: 77.796421 deg,
      new cmd heading: 77.816237 deg.

2021-08-14T15:43:37.390Z,1628955817.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:37.692Z,1628955817.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:37.693Z,1628955817.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:37.693Z,1628955817.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:37.694Z,1628955817.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:38.081Z,1628955818.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,006D3,186,80,80,AD,FF
2021-08-14T15:43:38.081Z,1628955818.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:38.081Z,1628955818.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:38.083Z,1628955818.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:38.505Z,1628955818.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:38.889Z,1628955818.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,006A7,185,80,80,A3,FF
2021-08-14T15:43:38.889Z,1628955818.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:39.362Z,1628955819.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154339.86*59

2021-08-14T15:43:39.443Z,1628955819.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.680008 m, bearing: 63.496580 deg, deltaT: 4.393416 s, approachRate: -0.600899 m/s, LOS rate: -0.533081 deg/s, posRepo size: 4
2021-08-14T15:43:39.449Z,1628955819.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.680008 m,
      bearing: 63.496580 deg,
      approachRate: -0.600899 m/s,
      LOS rate: -0.533081 deg/s,
      cmd update: -1.599242 deg/s,
      cmd heading: 66.687077 deg,
      new cmd heading: 65.381060 deg.

2021-08-14T15:43:41.740Z,1628955821.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:42.129Z,1628955822.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:42.129Z,1628955822.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:42.129Z,1628955822.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:42.130Z,1628955822.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:42.525Z,1628955822.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,006A7,185,80,80,A3,FF
2021-08-14T15:43:42.525Z,1628955822.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:42.525Z,1628955822.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:42.527Z,1628955822.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:42.937Z,1628955822.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:43.354Z,1628955823.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00671,186,80,80,AA,FF
2021-08-14T15:43:43.354Z,1628955823.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:43.777Z,1628955823.777 [Micromodem](INFO): Nmea in: $SNTTA,0.043131,,,,154344.30*44

2021-08-14T15:43:43.820Z,1628955823.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.439999 m, bearing: 67.028690 deg, deltaT: 4.541009 s, approachRate: -0.713500 m/s, LOS rate: 0.777825 deg/s, posRepo size: 4
2021-08-14T15:43:43.822Z,1628955823.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.439999 m,
      bearing: 67.028690 deg,
      approachRate: -0.713500 m/s,
      LOS rate: 0.777825 deg/s,
      cmd update: 2.333474 deg/s,
      cmd heading: 59.424894 deg,
      new cmd heading: 58.860901 deg.

2021-08-14T15:43:46.194Z,1628955826.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:46.569Z,1628955826.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:46.569Z,1628955826.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:46.569Z,1628955826.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:46.570Z,1628955826.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:46.966Z,1628955826.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00671,186,80,80,AA,FF
2021-08-14T15:43:46.966Z,1628955826.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:46.966Z,1628955826.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:46.968Z,1628955826.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:47.377Z,1628955827.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:47.782Z,1628955827.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0063C,183,80,80,BB,FF
2021-08-14T15:43:47.782Z,1628955827.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:48.213Z,1628955828.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154348.74*52

2021-08-14T15:43:48.298Z,1628955828.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 68.866762 deg, deltaT: 4.332063 s, approachRate: -0.734060 m/s, LOS rate: 0.424295 deg/s, posRepo size: 4
2021-08-14T15:43:48.306Z,1628955828.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 68.866762 deg,
      approachRate: -0.734060 m/s,
      LOS rate: 0.424295 deg/s,
      cmd update: 1.272885 deg/s,
      cmd heading: 69.543023 deg,
      new cmd heading: 70.695997 deg.

2021-08-14T15:43:50.651Z,1628955830.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:51.033Z,1628955831.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:51.033Z,1628955831.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:51.033Z,1628955831.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:51.034Z,1628955831.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:51.413Z,1628955831.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0063C,183,80,80,BB,FF
2021-08-14T15:43:51.413Z,1628955831.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:51.413Z,1628955831.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:51.415Z,1628955831.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:51.823Z,1628955831.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:52.217Z,1628955832.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,0060A,186,80,80,AB,FF
2021-08-14T15:43:52.217Z,1628955832.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:52.669Z,1628955832.669 [Micromodem](INFO): Nmea in: $SNTTA,0.045377,,,,154353.19*4F

2021-08-14T15:43:52.702Z,1628955832.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 66.229223 deg, deltaT: 4.466880 s, approachRate: -0.671611 m/s, LOS rate: -0.590466 deg/s, posRepo size: 4
2021-08-14T15:43:52.705Z,1628955832.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.259998 m,
      bearing: 66.229223 deg,
      approachRate: -0.671611 m/s,
      LOS rate: -0.590466 deg/s,
      cmd update: -1.771397 deg/s,
      cmd heading: 75.203340 deg,
      new cmd heading: 75.778477 deg.

2021-08-14T15:43:55.069Z,1628955835.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:55.449Z,1628955835.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:55.449Z,1628955835.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:55.449Z,1628955835.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:55.450Z,1628955835.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:43:55.857Z,1628955835.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,0060A,186,80,80,AB,FF
2021-08-14T15:43:55.857Z,1628955835.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:43:55.857Z,1628955835.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:43:55.859Z,1628955835.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:43:56.274Z,1628955836.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:43:56.674Z,1628955836.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,005D6,186,80,80,AD,FF
2021-08-14T15:43:56.675Z,1628955836.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:43:57.102Z,1628955837.102 [Micromodem](INFO): Nmea in: $SNTTA,0.041534,,,,154357.63*43

2021-08-14T15:43:57.117Z,1628955837.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.139999 m, bearing: 63.064031 deg, deltaT: 4.449918 s, approachRate: -0.701136 m/s, LOS rate: -0.711292 deg/s, posRepo size: 4
2021-08-14T15:43:57.119Z,1628955837.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.139999 m,
      bearing: 63.064031 deg,
      approachRate: -0.701136 m/s,
      LOS rate: -0.711292 deg/s,
      cmd update: -2.133876 deg/s,
      cmd heading: 67.285305 deg,
      new cmd heading: 66.582124 deg.

2021-08-14T15:43:59.542Z,1628955839.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:43:59.937Z,1628955839.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:43:59.937Z,1628955839.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:43:59.937Z,1628955839.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:43:59.938Z,1628955839.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:00.318Z,1628955840.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,005D6,186,80,80,AD,FF
2021-08-14T15:44:00.319Z,1628955840.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:00.319Z,1628955840.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:00.321Z,1628955840.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:00.729Z,1628955840.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:01.109Z,1628955841.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,005A6,186,80,80,A7,FF
2021-08-14T15:44:01.110Z,1628955841.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:01.546Z,1628955841.546 [Micromodem](INFO): Nmea in: $SNTTA,0.376718,,,,154402.10*4B

2021-08-14T15:44:01.617Z,1628955841.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 65.104646 deg, deltaT: 4.411340 s, approachRate: -0.652863 m/s, LOS rate: 0.462584 deg/s, posRepo size: 4
2021-08-14T15:44:01.619Z,1628955841.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.259998 m,
      bearing: 65.104646 deg,
      approachRate: -0.652863 m/s,
      LOS rate: 0.462584 deg/s,
      cmd update: 1.387752 deg/s,
      cmd heading: 57.872253 deg,
      new cmd heading: 56.887843 deg.

2021-08-14T15:44:04.002Z,1628955844.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:04.341Z,1628955844.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:04.342Z,1628955844.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:04.342Z,1628955844.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:04.342Z,1628955844.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:04.750Z,1628955844.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,005A6,186,80,80,A7,FF
2021-08-14T15:44:04.750Z,1628955844.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:04.750Z,1628955844.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:04.752Z,1628955844.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:05.148Z,1628955845.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:05.566Z,1628955845.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00570,182,80,80,B2,FF
2021-08-14T15:44:05.566Z,1628955845.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:05.997Z,1628955845.997 [Micromodem](INFO): Nmea in: $SNTTA,0.050643,,,,154406.53*40

2021-08-14T15:44:06.019Z,1628955846.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 66.707541 deg, deltaT: 4.517891 s, approachRate: -0.717149 m/s, LOS rate: 0.354788 deg/s, posRepo size: 4
2021-08-14T15:44:06.022Z,1628955846.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.019997 m,
      bearing: 66.707541 deg,
      approachRate: -0.717149 m/s,
      LOS rate: 0.354788 deg/s,
      cmd update: 1.064365 deg/s,
      cmd heading: 64.121394 deg,
      new cmd heading: 64.655619 deg.

2021-08-14T15:44:08.434Z,1628955848.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:08.785Z,1628955848.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:08.785Z,1628955848.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:08.785Z,1628955848.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:08.786Z,1628955848.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:09.193Z,1628955849.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00570,182,80,80,B2,FF
2021-08-14T15:44:09.194Z,1628955849.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:09.194Z,1628955849.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:09.195Z,1628955849.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:09.596Z,1628955849.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:10.003Z,1628955850.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,0053F,186,80,80,AF,FF
2021-08-14T15:44:10.003Z,1628955850.003 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:10.445Z,1628955850.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154410.97*55

2021-08-14T15:44:10.471Z,1628955850.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.080002 m, bearing: 64.614300 deg, deltaT: 4.370273 s, approachRate: -0.672726 m/s, LOS rate: -0.478973 deg/s, posRepo size: 4
2021-08-14T15:44:10.473Z,1628955850.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 64.614300 deg,
      approachRate: -0.672726 m/s,
      LOS rate: -0.478973 deg/s,
      cmd update: -1.436918 deg/s,
      cmd heading: 68.788880 deg,
      new cmd heading: 69.269108 deg.

2021-08-14T15:44:12.851Z,1628955852.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:13.231Z,1628955853.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:13.231Z,1628955853.231 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:13.231Z,1628955853.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:13.232Z,1628955853.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:13.649Z,1628955853.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,0053F,186,80,80,AF,FF
2021-08-14T15:44:13.649Z,1628955853.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:13.649Z,1628955853.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:13.652Z,1628955853.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:14.057Z,1628955854.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:14.446Z,1628955854.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,0050D,186,80,80,A3,FF
2021-08-14T15:44:14.446Z,1628955854.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:14.870Z,1628955854.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154415.43*59

2021-08-14T15:44:14.897Z,1628955854.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 63.663421 deg, deltaT: 4.488726 s, approachRate: -0.668341 m/s, LOS rate: -0.211837 deg/s, posRepo size: 4
2021-08-14T15:44:14.899Z,1628955854.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.080002 m,
      bearing: 63.663421 deg,
      approachRate: -0.668341 m/s,
      LOS rate: -0.211837 deg/s,
      cmd update: -0.635511 deg/s,
      cmd heading: 62.339121 deg,
      new cmd heading: 61.781234 deg.

2021-08-14T15:44:17.374Z,1628955857.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:17.678Z,1628955857.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:17.678Z,1628955857.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:17.678Z,1628955857.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:17.679Z,1628955857.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:18.077Z,1628955858.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,0050D,186,80,80,A3,FF
2021-08-14T15:44:18.077Z,1628955858.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:18.077Z,1628955858.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:18.079Z,1628955858.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:18.485Z,1628955858.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:18.889Z,1628955858.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,004DB,187,80,80,C0,FF
2021-08-14T15:44:18.889Z,1628955858.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:19.357Z,1628955859.357 [Micromodem](INFO): Nmea in: $SNTTA,0.042330,,,,154419.86*44

2021-08-14T15:44:19.411Z,1628955859.411 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T15:44:19.450Z,1628955859.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 63.865506 deg, deltaT: 4.397515 s, approachRate: -0.682203 m/s, LOS rate: 0.045954 deg/s, posRepo size: 4
2021-08-14T15:44:19.450Z,1628955859.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.08 m.
2021-08-14T15:44:19.457Z,1628955859.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.080002 m,
      bearing: 63.865506 deg,
      approachRate: -0.682203 m/s,
      LOS rate: 0.045954 deg/s,
      cmd update: 0.137863 deg/s,
      cmd heading: 59.544399 deg,
      new cmd heading: 59.198617 deg.

2021-08-14T15:44:19.750Z,1628955859.750 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:44:19.785Z,1628955859.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:44:19.785Z,1628955859.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:44:19.786Z,1628955859.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:44:19.786Z,1628955859.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:44:19.786Z,1628955859.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:44:19.786Z,1628955859.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:44:20.153Z,1628955860.153 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:44:20.154Z,1628955860.154 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:44:20.154Z,1628955860.154 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:44:20.154Z,1628955860.154 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:44:21.457Z,1628955861.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:21.721Z,1628955861.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:21.721Z,1628955861.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:21.721Z,1628955861.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:21.722Z,1628955861.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:22.125Z,1628955862.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,004DB,187,80,80,C0,FF
2021-08-14T15:44:22.125Z,1628955862.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:22.125Z,1628955862.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:22.127Z,1628955862.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:22.532Z,1628955862.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:22.933Z,1628955862.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,004AB,186,80,80,8A,FF
2021-08-14T15:44:22.934Z,1628955862.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:22.955Z,1628955862.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:23.387Z,1628955863.387 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154423.90*52

2021-08-14T15:44:23.423Z,1628955863.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 64.126454 deg, deltaT: 4.046000 s, approachRate: -0.711814 m/s, LOS rate: 0.064495 deg/s, posRepo size: 4
2021-08-14T15:44:23.423Z,1628955863.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.20 m.
2021-08-14T15:44:23.485Z,1628955863.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.200001 m,
      bearing: 64.126454 deg,
      approachRate: -0.711814 m/s,
      LOS rate: 0.064495 deg/s,
      cmd update: 0.193485 deg/s,
      cmd heading: 60.102119 deg,
      new cmd heading: 60.167137 deg.

2021-08-14T15:44:25.461Z,1628955865.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:25.753Z,1628955865.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:25.753Z,1628955865.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:25.753Z,1628955865.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:25.754Z,1628955865.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:26.165Z,1628955866.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,004AB,186,80,80,8A,FF
2021-08-14T15:44:26.165Z,1628955866.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:26.166Z,1628955866.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:26.167Z,1628955866.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:26.573Z,1628955866.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:26.973Z,1628955866.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,0047E,184,80,80,A9,FF
2021-08-14T15:44:26.974Z,1628955866.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:26.994Z,1628955866.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:27.427Z,1628955867.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154427.95*53

2021-08-14T15:44:27.502Z,1628955867.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 66.566757 deg, deltaT: 4.039520 s, approachRate: -0.668396 m/s, LOS rate: 0.604107 deg/s, posRepo size: 4
2021-08-14T15:44:27.503Z,1628955867.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.50 m.
2021-08-14T15:44:27.513Z,1628955867.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.500000 m,
      bearing: 66.566757 deg,
      approachRate: -0.668396 m/s,
      LOS rate: 0.604107 deg/s,
      cmd update: 1.812322 deg/s,
      cmd heading: 60.883715 deg,
      new cmd heading: 60.982696 deg.

2021-08-14T15:44:29.830Z,1628955869.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:30.197Z,1628955870.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:30.197Z,1628955870.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:30.197Z,1628955870.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:30.198Z,1628955870.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:30.609Z,1628955870.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,0047E,184,80,80,A9,FF
2021-08-14T15:44:30.609Z,1628955870.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:30.609Z,1628955870.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:30.611Z,1628955870.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:31.009Z,1628955871.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:31.417Z,1628955871.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00456,185,80,80,90,FF
2021-08-14T15:44:31.417Z,1628955871.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:31.510Z,1628955871.510 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:31.845Z,1628955871.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154432.39*51

2021-08-14T15:44:31.881Z,1628955871.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 65.601583 deg, deltaT: 4.515719 s, approachRate: -0.531477 m/s, LOS rate: -0.213737 deg/s, posRepo size: 4
2021-08-14T15:44:31.882Z,1628955871.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.10 m.
2021-08-14T15:44:31.886Z,1628955871.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.099998 m,
      bearing: 65.601583 deg,
      approachRate: -0.531477 m/s,
      LOS rate: -0.213737 deg/s,
      cmd update: -0.641210 deg/s,
      cmd heading: 69.060518 deg,
      new cmd heading: 69.745771 deg.

2021-08-14T15:44:34.299Z,1628955874.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:34.654Z,1628955874.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:34.654Z,1628955874.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:34.654Z,1628955874.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:34.655Z,1628955874.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:35.049Z,1628955875.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00456,185,80,80,90,FF
2021-08-14T15:44:35.050Z,1628955875.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:35.050Z,1628955875.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:35.051Z,1628955875.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:35.508Z,1628955875.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:35.893Z,1628955875.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00424,185,80,80,A9,FF
2021-08-14T15:44:35.894Z,1628955875.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:35.914Z,1628955875.914 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:36.310Z,1628955876.310 [Micromodem](INFO): Nmea in: $SNTTA,0.030067,,,,154436.83*48

2021-08-14T15:44:36.327Z,1628955876.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 62.767506 deg, deltaT: 4.404074 s, approachRate: -0.681187 m/s, LOS rate: -0.643513 deg/s, posRepo size: 4
2021-08-14T15:44:36.327Z,1628955876.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.10 m.
2021-08-14T15:44:36.328Z,1628955876.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 26.10 m.
2021-08-14T15:44:36.328Z,1628955876.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:44:36.330Z,1628955876.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.099998 m,
      bearing: 62.767506 deg,
      approachRate: -0.681187 m/s,
      LOS rate: -0.643513 deg/s,
      cmd update: -1.930538 deg/s,
      cmd heading: 66.233944 deg,
      new cmd heading: 65.967301 deg.

2021-08-14T15:44:38.743Z,1628955878.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:39.117Z,1628955879.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:39.117Z,1628955879.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:39.117Z,1628955879.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:39.118Z,1628955879.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:39.525Z,1628955879.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00424,185,80,80,A9,FF
2021-08-14T15:44:39.525Z,1628955879.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:39.525Z,1628955879.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:39.527Z,1628955879.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:39.953Z,1628955879.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:40.333Z,1628955880.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,003EF,186,80,80,9B,FF
2021-08-14T15:44:40.333Z,1628955880.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:40.355Z,1628955880.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:40.765Z,1628955880.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154441.30*5C

2021-08-14T15:44:40.797Z,1628955880.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 62.377966 deg, deltaT: 4.441058 s, approachRate: -0.716046 m/s, LOS rate: -0.087713 deg/s, posRepo size: 4
2021-08-14T15:44:40.799Z,1628955880.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.919998 m,
      bearing: 62.377966 deg,
      approachRate: -0.716046 m/s,
      LOS rate: -0.087713 deg/s,
      cmd update: -0.263140 deg/s,
      cmd heading: 57.662839 deg,
      new cmd heading: 56.800898 deg.

2021-08-14T15:44:43.167Z,1628955883.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:43.565Z,1628955883.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:43.565Z,1628955883.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:43.566Z,1628955883.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:43.566Z,1628955883.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:43.969Z,1628955883.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,003EF,186,80,80,9B,FF
2021-08-14T15:44:43.969Z,1628955883.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:43.969Z,1628955883.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:43.971Z,1628955883.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:44.381Z,1628955884.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:44.765Z,1628955884.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,003C0,183,80,80,A2,FF
2021-08-14T15:44:44.765Z,1628955884.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:44.831Z,1628955884.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:45.209Z,1628955885.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154445.75*59

2021-08-14T15:44:45.257Z,1628955885.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 60.300544 deg, deltaT: 4.480355 s, approachRate: -0.629413 m/s, LOS rate: -0.463674 deg/s, posRepo size: 4
2021-08-14T15:44:45.279Z,1628955885.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.100002 m,
      bearing: 60.300544 deg,
      approachRate: -0.629413 m/s,
      LOS rate: -0.463674 deg/s,
      cmd update: -1.391021 deg/s,
      cmd heading: 56.486743 deg,
      new cmd heading: 56.377346 deg.

2021-08-14T15:44:47.651Z,1628955887.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:48.001Z,1628955888.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:48.001Z,1628955888.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:48.002Z,1628955888.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:48.003Z,1628955888.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:48.415Z,1628955888.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,003C0,183,80,80,A2,FF
2021-08-14T15:44:48.415Z,1628955888.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:48.415Z,1628955888.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:48.419Z,1628955888.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:48.806Z,1628955888.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:49.220Z,1628955889.220 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,00399,184,80,80,83,FF
2021-08-14T15:44:49.220Z,1628955889.220 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:49.337Z,1628955889.337 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:49.642Z,1628955889.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154450.19*57

2021-08-14T15:44:49.714Z,1628955889.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 57.826758 deg, deltaT: 4.501612 s, approachRate: -0.519815 m/s, LOS rate: -0.549533 deg/s, posRepo size: 4
2021-08-14T15:44:49.721Z,1628955889.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 57.826758 deg,
      approachRate: -0.519815 m/s,
      LOS rate: -0.549533 deg/s,
      cmd update: -1.648600 deg/s,
      cmd heading: 50.213551 deg,
      new cmd heading: 49.678947 deg.

2021-08-14T15:44:52.062Z,1628955892.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:52.449Z,1628955892.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:52.450Z,1628955892.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:52.450Z,1628955892.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:52.451Z,1628955892.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:52.845Z,1628955892.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,00399,184,80,80,83,FF
2021-08-14T15:44:52.845Z,1628955892.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:52.845Z,1628955892.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:52.847Z,1628955892.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:53.283Z,1628955893.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:53.658Z,1628955893.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00366,186,80,80,72,FF
2021-08-14T15:44:53.658Z,1628955893.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:53.715Z,1628955893.715 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:54.133Z,1628955894.133 [Micromodem](INFO): Nmea in: $SNTTA,0.029020,,,,154454.62*48

2021-08-14T15:44:54.181Z,1628955894.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 60.064123 deg, deltaT: 4.377575 s, approachRate: -0.699017 m/s, LOS rate: 0.511097 deg/s, posRepo size: 4
2021-08-14T15:44:54.183Z,1628955894.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 60.064123 deg,
      approachRate: -0.699017 m/s,
      LOS rate: 0.511097 deg/s,
      cmd update: 1.533291 deg/s,
      cmd heading: 42.996989 deg,
      new cmd heading: 42.217393 deg.

2021-08-14T15:44:56.534Z,1628955896.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:44:56.893Z,1628955896.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:44:56.893Z,1628955896.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:44:56.893Z,1628955896.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:44:56.894Z,1628955896.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:44:57.338Z,1628955897.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00366,186,80,80,72,FF
2021-08-14T15:44:57.338Z,1628955897.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:44:57.338Z,1628955897.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:44:57.402Z,1628955897.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:44:57.721Z,1628955897.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:44:58.109Z,1628955898.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,00322,186,80,80,A4,FF
2021-08-14T15:44:58.109Z,1628955898.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:44:58.141Z,1628955898.141 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:44:58.633Z,1628955898.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.619997 m, bearing: 60.670125 deg, deltaT: 4.427095 s, approachRate: -0.921598 m/s, LOS rate: 0.136885 deg/s, posRepo size: 4
2021-08-14T15:44:58.635Z,1628955898.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.619997 m,
      bearing: 60.670125 deg,
      approachRate: -0.921598 m/s,
      LOS rate: 0.136885 deg/s,
      cmd update: 0.410654 deg/s,
      cmd heading: 49.786958 deg,
      new cmd heading: 50.517651 deg.

2021-08-14T15:44:58.931Z,1628955898.931 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154459.18*5F

2021-08-14T15:45:00.975Z,1628955900.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:01.361Z,1628955901.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:01.361Z,1628955901.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:01.361Z,1628955901.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:01.362Z,1628955901.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:01.745Z,1628955901.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,00322,186,80,80,A4,FF
2021-08-14T15:45:01.745Z,1628955901.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:01.745Z,1628955901.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:01.747Z,1628955901.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:02.161Z,1628955902.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:02.553Z,1628955902.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,002F7,187,80,80,AF,FF
2021-08-14T15:45:02.553Z,1628955902.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:02.594Z,1628955902.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:03.005Z,1628955903.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154503.53*5E

2021-08-14T15:45:03.034Z,1628955903.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 59.502539 deg, deltaT: 4.451883 s, approachRate: -0.579529 m/s, LOS rate: -0.262268 deg/s, posRepo size: 4
2021-08-14T15:45:03.038Z,1628955903.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 59.502539 deg,
      approachRate: -0.579529 m/s,
      LOS rate: -0.262268 deg/s,
      cmd update: -0.786804 deg/s,
      cmd heading: 51.608138 deg,
      new cmd heading: 51.798516 deg.

2021-08-14T15:45:05.484Z,1628955905.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:05.793Z,1628955905.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:05.793Z,1628955905.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:05.793Z,1628955905.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:05.794Z,1628955905.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:06.189Z,1628955906.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,002F7,187,80,80,AF,FF
2021-08-14T15:45:06.189Z,1628955906.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:06.189Z,1628955906.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:06.191Z,1628955906.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:06.615Z,1628955906.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:06.997Z,1628955906.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,002D3,186,80,80,C2,FF
2021-08-14T15:45:06.997Z,1628955906.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:07.070Z,1628955907.070 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:07.450Z,1628955907.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154507.97*52

2021-08-14T15:45:07.526Z,1628955907.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 66.120295 deg, deltaT: 4.476870 s, approachRate: -0.482480 m/s, LOS rate: 1.478211 deg/s, posRepo size: 4
2021-08-14T15:45:07.532Z,1628955907.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 66.120295 deg,
      approachRate: -0.482480 m/s,
      LOS rate: 1.478211 deg/s,
      cmd update: 4.434632 deg/s,
      cmd heading: 48.072102 deg,
      new cmd heading: 47.713022 deg.

2021-08-14T15:45:09.875Z,1628955909.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:10.235Z,1628955910.235 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:10.235Z,1628955910.235 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:10.235Z,1628955910.235 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:10.236Z,1628955910.236 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:10.662Z,1628955910.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,002D3,186,80,80,C2,FF
2021-08-14T15:45:10.662Z,1628955910.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:10.662Z,1628955910.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:10.669Z,1628955910.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:11.101Z,1628955911.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:11.497Z,1628955911.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,002B5,186,80,80,93,FF
2021-08-14T15:45:11.497Z,1628955911.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:11.583Z,1628955911.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:11.937Z,1628955911.937 [Micromodem](INFO): Nmea in: $SNTTA,0.002384,,,,154512.45*4A

2021-08-14T15:45:11.997Z,1628955911.997 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T15:45:11.998Z,1628955911.998 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:45:11.998Z,1628955911.998 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T15:45:11.998Z,1628955911.998 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:45:11.998Z,1628955911.998 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T15:45:11.999Z,1628955911.999 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2021-08-14T15:45:11.999Z,1628955911.999 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T15:45:11.999Z,1628955911.999 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T15:45:11.999Z,1628955911.999 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T15:45:12.006Z,1628955912.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 40.686334 deg, deltaT: 4.512336 s, approachRate: -0.398906 m/s, LOS rate: -5.636540 deg/s, posRepo size: 4
2021-08-14T15:45:12.012Z,1628955912.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 40.686334 deg,
      approachRate: -0.398906 m/s,
      LOS rate: -5.636540 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 68.076380 deg,
      new cmd heading: 69.983804 deg.

2021-08-14T15:45:12.325Z,1628955912.325 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T154512: (41.552319, -70.708603)
2021-08-14T15:45:12.325Z,1628955912.325 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T15:45:12.325Z,1628955912.325 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T15:45:12.325Z,1628955912.325 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:45:12.325Z,1628955912.325 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T15:45:12.326Z,1628955912.326 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:45:12.326Z,1628955912.326 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T15:45:12.326Z,1628955912.326 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T15:45:12.326Z,1628955912.326 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:45:14.350Z,1628955914.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:14.725Z,1628955914.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:14.725Z,1628955914.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:14.725Z,1628955914.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:14.726Z,1628955914.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:15.133Z,1628955915.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,002B5,186,80,80,93,FF
2021-08-14T15:45:15.133Z,1628955915.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:15.133Z,1628955915.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:15.135Z,1628955915.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:15.545Z,1628955915.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:15.941Z,1628955915.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,002BA,187,80,80,BD,FF
2021-08-14T15:45:15.942Z,1628955915.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:16.002Z,1628955916.002 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:16.378Z,1628955916.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154516.91*54

2021-08-14T15:45:16.407Z,1628955916.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 70.643438 deg, deltaT: 4.418931 s, approachRate: 0.067890 m/s, LOS rate: 6.779265 deg/s, posRepo size: 4
2021-08-14T15:45:16.409Z,1628955916.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 70.643438 deg,
      approachRate: 0.067890 m/s,
      LOS rate: 6.779265 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 15.219043 deg,
      new cmd heading: 10.100335 deg.

2021-08-14T15:45:18.779Z,1628955918.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:19.173Z,1628955919.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:19.173Z,1628955919.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:19.173Z,1628955919.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:19.174Z,1628955919.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:19.578Z,1628955919.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,002BA,187,80,80,BD,FF
2021-08-14T15:45:19.578Z,1628955919.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:19.578Z,1628955919.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:19.579Z,1628955919.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:20.096Z,1628955920.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:20.489Z,1628955920.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,223,000,002FA,187,80,80,9F,FF
2021-08-14T15:45:20.490Z,1628955920.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:20.558Z,1628955920.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:20.910Z,1628955920.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154521.36*5D

2021-08-14T15:45:20.951Z,1628955920.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 36.025799 deg, deltaT: 4.556626 s, approachRate: 0.842729 m/s, LOS rate: -7.597209 deg/s, posRepo size: 4
2021-08-14T15:45:20.958Z,1628955920.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 36.025799 deg,
      approachRate: 0.842729 m/s,
      LOS rate: -7.597209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 70.022684 deg,
      new cmd heading: 74.872412 deg.

2021-08-14T15:45:23.428Z,1628955923.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:23.721Z,1628955923.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:23.721Z,1628955923.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:23.721Z,1628955923.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:23.722Z,1628955923.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:24.134Z,1628955924.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
223,000,002FA,187,80,80,9F,FF
2021-08-14T15:45:24.134Z,1628955924.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:24.134Z,1628955924.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:24.138Z,1628955924.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:24.517Z,1628955924.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:24.942Z,1628955924.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,0031C,185,80,80,72,FF
2021-08-14T15:45:24.942Z,1628955924.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:24.000Z,1628955925.000 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:25.377Z,1628955925.377 [Micromodem](INFO): Nmea in: $SNTTA,0.250890,,,,154525.92*4F

2021-08-14T15:45:25.448Z,1628955925.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 53.550353 deg, deltaT: 4.441484 s, approachRate: 0.459306 m/s, LOS rate: 3.945653 deg/s, posRepo size: 4
2021-08-14T15:45:25.450Z,1628955925.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 53.550353 deg,
      approachRate: 0.459306 m/s,
      LOS rate: 3.945653 deg/s,
      cmd update: 11.836959 deg/s,
      cmd heading: 16.928527 deg,
      new cmd heading: 11.216827 deg.

2021-08-14T15:45:27.787Z,1628955927.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:28.165Z,1628955928.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:28.165Z,1628955928.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:28.165Z,1628955928.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:28.166Z,1628955928.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:28.561Z,1628955928.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,0031C,185,80,80,72,FF
2021-08-14T15:45:28.561Z,1628955928.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:28.561Z,1628955928.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:28.563Z,1628955928.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:28.964Z,1628955928.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:29.369Z,1628955929.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00347,184,80,80,82,FF
2021-08-14T15:45:29.370Z,1628955929.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:29.436Z,1628955929.436 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:29.822Z,1628955929.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154530.34*5F

2021-08-14T15:45:29.881Z,1628955929.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 47.950472 deg, deltaT: 4.436665 s, approachRate: 0.581518 m/s, LOS rate: -1.262182 deg/s, posRepo size: 4
2021-08-14T15:45:29.883Z,1628955929.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 47.950472 deg,
      approachRate: 0.581518 m/s,
      LOS rate: -1.262182 deg/s,
      cmd update: -3.786548 deg/s,
      cmd heading: 69.740089 deg,
      new cmd heading: 75.030606 deg.

2021-08-14T15:45:32.223Z,1628955932.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:32.606Z,1628955932.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:32.606Z,1628955932.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:32.606Z,1628955932.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:32.607Z,1628955932.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:33.023Z,1628955933.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00347,184,80,80,82,FF
2021-08-14T15:45:33.024Z,1628955933.024 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:33.024Z,1628955933.024 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:33.026Z,1628955933.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:33.431Z,1628955933.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:33.825Z,1628955933.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,00363,189,80,80,70,FF
2021-08-14T15:45:33.825Z,1628955933.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:33.853Z,1628955933.853 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:34.244Z,1628955934.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154534.80*54

2021-08-14T15:45:34.301Z,1628955934.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.520001 m, bearing: 356.467791 deg, deltaT: 4.417067 s, approachRate: 0.380343 m/s, LOS rate: -11.655399 deg/s, posRepo size: 4
2021-08-14T15:45:34.301Z,1628955934.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.52 m. Rolling out.
2021-08-14T15:45:34.302Z,1628955934.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:45:36.706Z,1628955936.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:37.056Z,1628955937.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:37.056Z,1628955937.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:37.057Z,1628955937.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:37.058Z,1628955937.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:37.457Z,1628955937.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,00363,189,80,80,70,FF
2021-08-14T15:45:37.457Z,1628955937.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:37.457Z,1628955937.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:37.459Z,1628955937.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:37.873Z,1628955937.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:38.689Z,1628955938.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154539.24*57

2021-08-14T15:45:39.559Z,1628955939.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:41.081Z,1628955941.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,70,FF
2021-08-14T15:45:41.082Z,1628955941.082 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,70,FF
2021-08-14T15:45:41.082Z,1628955941.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:45:42.315Z,1628955942.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:42.709Z,1628955942.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:42.709Z,1628955942.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:42.709Z,1628955942.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:42.710Z,1628955942.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:43.109Z,1628955943.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,70,FF
2021-08-14T15:45:43.109Z,1628955943.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:43.110Z,1628955943.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:43.111Z,1628955943.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:43.512Z,1628955943.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:44.356Z,1628955944.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154544.89*5A

2021-08-14T15:45:45.310Z,1628955945.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:46.402Z,1628955946.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,70,FF
2021-08-14T15:45:46.402Z,1628955946.402 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,70,FF
2021-08-14T15:45:46.403Z,1628955946.403 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:45:48.039Z,1628955948.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:48.417Z,1628955948.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:48.417Z,1628955948.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:48.417Z,1628955948.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:48.418Z,1628955948.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:48.837Z,1628955948.837 [DUSBL_Hydroid](INFO): DUSBL response received:
!U1,P
0,80,63,E4
3,189,80,80,70,FF
2021-08-14T15:45:48.837Z,1628955948.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:48.837Z,1628955948.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:48.839Z,1628955948.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:49.298Z,1628955949.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:49.631Z,1628955949.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,003F9,186,80,80,76,FF
2021-08-14T15:45:49.631Z,1628955949.631 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:49.657Z,1628955949.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:50.065Z,1628955950.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154550.61*59

2021-08-14T15:45:50.125Z,1628955950.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 69.164995 deg, deltaT: 15.804195 s, approachRate: 0.569469 m/s, LOS rate: 4.599869 deg/s, posRepo size: 4
2021-08-14T15:45:52.503Z,1628955952.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:52.873Z,1628955952.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:52.873Z,1628955952.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:52.873Z,1628955952.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:52.874Z,1628955952.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:53.289Z,1628955953.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,003F9,186,80,80,76,FF
2021-08-14T15:45:53.289Z,1628955953.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:53.290Z,1628955953.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:53.305Z,1628955953.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:53.680Z,1628955953.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:54.089Z,1628955954.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,0042E,184,80,80,BC,FF
2021-08-14T15:45:54.089Z,1628955954.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:54.092Z,1628955954.092 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:45:54.153Z,1628955954.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:54.513Z,1628955954.513 [Micromodem](INFO): Nmea in: $SNTTA,0.037658,,,,154555.08*42

2021-08-14T15:45:54.540Z,1628955954.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 64.094755 deg, deltaT: 4.496126 s, approachRate: 0.707277 m/s, LOS rate: -1.127691 deg/s, posRepo size: 4
2021-08-14T15:45:56.952Z,1628955956.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:45:57.348Z,1628955957.348 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:45:57.349Z,1628955957.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:45:57.349Z,1628955957.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:45:57.350Z,1628955957.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:45:57.717Z,1628955957.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,0042E,184,80,80,BC,FF
2021-08-14T15:45:57.717Z,1628955957.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:45:57.717Z,1628955957.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:45:57.719Z,1628955957.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:45:58.121Z,1628955958.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:45:58.518Z,1628955958.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00461,185,80,80,BA,FF
2021-08-14T15:45:58.519Z,1628955958.519 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:45:58.588Z,1628955958.588 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:45:58.969Z,1628955958.969 [Micromodem](INFO): Nmea in: $SNTTA,0.046903,,,,154559.50*44

2021-08-14T15:45:59.001Z,1628955959.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 60.163195 deg, deltaT: 4.434253 s, approachRate: 0.690082 m/s, LOS rate: -0.886634 deg/s, posRepo size: 4
2021-08-14T15:46:01.418Z,1628955961.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:01.745Z,1628955961.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:01.745Z,1628955961.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:01.745Z,1628955961.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:01.746Z,1628955961.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:02.149Z,1628955962.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00461,185,80,80,BA,FF
2021-08-14T15:46:02.150Z,1628955962.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:02.150Z,1628955962.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:02.151Z,1628955962.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:02.569Z,1628955962.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:02.982Z,1628955962.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,00492,184,80,80,B0,FF
2021-08-14T15:46:02.982Z,1628955962.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:03.033Z,1628955963.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:46:03.413Z,1628955963.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154603.93*51

2021-08-14T15:46:03.460Z,1628955963.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 61.461833 deg, deltaT: 4.444440 s, approachRate: 0.661500 m/s, LOS rate: 0.292194 deg/s, posRepo size: 4
2021-08-14T15:46:05.805Z,1628955965.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:06.193Z,1628955966.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:06.193Z,1628955966.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:06.193Z,1628955966.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:06.194Z,1628955966.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:06.609Z,1628955966.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,00492,184,80,80,B0,FF
2021-08-14T15:46:06.609Z,1628955966.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:06.609Z,1628955966.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:06.611Z,1628955966.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:07.025Z,1628955967.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:07.413Z,1628955967.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,004C8,184,80,80,A1,FF
2021-08-14T15:46:07.413Z,1628955967.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:07.479Z,1628955967.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:46:07.865Z,1628955967.865 [Micromodem](INFO): Nmea in: $SNTTA,0.048164,,,,154608.39*4B

2021-08-14T15:46:07.884Z,1628955967.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 62.709927 deg, deltaT: 4.454828 s, approachRate: 0.727301 m/s, LOS rate: 0.280167 deg/s, posRepo size: 4
2021-08-14T15:46:10.277Z,1628955970.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:10.658Z,1628955970.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:10.658Z,1628955970.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:10.658Z,1628955970.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:10.659Z,1628955970.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:10.797Z,1628955970.797 [CTD_Seabird](ERROR): Failed to parse device response: 6.21,24.0539,
2021-08-14T15:46:11.105Z,1628955971.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,004C8,184,80,80,A1,FF
2021-08-14T15:46:11.105Z,1628955971.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:11.105Z,1628955971.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:11.107Z,1628955971.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:11.500Z,1628955971.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:11.893Z,1628955971.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,004F8,187,80,80,86,FF
2021-08-14T15:46:11.893Z,1628955971.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:11.970Z,1628955971.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:46:12.313Z,1628955972.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154612.88*5B

2021-08-14T15:46:12.347Z,1628955972.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 64.121939 deg, deltaT: 4.483284 s, approachRate: 0.642386 m/s, LOS rate: 0.314950 deg/s, posRepo size: 4
2021-08-14T15:46:14.750Z,1628955974.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:15.117Z,1628955975.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:15.117Z,1628955975.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:15.117Z,1628955975.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:15.118Z,1628955975.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:15.525Z,1628955975.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,004F8,187,80,80,86,FF
2021-08-14T15:46:15.525Z,1628955975.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:15.525Z,1628955975.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:15.527Z,1628955975.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:15.933Z,1628955975.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:16.333Z,1628955976.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,0056D,186,80,80,A7,FF
2021-08-14T15:46:16.334Z,1628955976.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:16.389Z,1628955976.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:46:16.765Z,1628955976.765 [Micromodem](INFO): Nmea in: $SNTTA,0.041620,,,,154617.31*43

2021-08-14T15:46:16.795Z,1628955976.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 68.245522 deg, deltaT: 4.418181 s, approachRate: 1.588889 m/s, LOS rate: 0.933321 deg/s, posRepo size: 4
2021-08-14T15:46:17.176Z,1628955977.176 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:46:17.176Z,1628955977.176 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:46:17.177Z,1628955977.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:46:17.177Z,1628955977.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:46:17.177Z,1628955977.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:46:17.178Z,1628955977.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:46:17.585Z,1628955977.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:46:17.585Z,1628955977.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:46:17.585Z,1628955977.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:46:17.585Z,1628955977.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:46:19.199Z,1628955979.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:19.565Z,1628955979.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:19.565Z,1628955979.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:19.565Z,1628955979.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:19.566Z,1628955979.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:19.985Z,1628955979.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,0056D,186,80,80,A7,FF
2021-08-14T15:46:19.985Z,1628955979.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:19.985Z,1628955979.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:19.987Z,1628955979.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:20.373Z,1628955980.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:21.194Z,1628955981.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154621.77*5B

2021-08-14T15:46:22.053Z,1628955982.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:23.605Z,1628955983.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:23.605Z,1628955983.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:23.605Z,1628955983.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:46:24.850Z,1628955984.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:25.229Z,1628955985.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:25.229Z,1628955985.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:25.230Z,1628955985.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:25.230Z,1628955985.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:25.632Z,1628955985.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:25.633Z,1628955985.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:25.633Z,1628955985.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:25.634Z,1628955985.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:26.053Z,1628955986.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:26.874Z,1628955986.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154627.41*58

2021-08-14T15:46:27.705Z,1628955987.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:29.294Z,1628955989.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:29.295Z,1628955989.295 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:29.300Z,1628955989.300 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:46:30.509Z,1628955990.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:30.881Z,1628955990.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:30.882Z,1628955990.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:30.882Z,1628955990.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:30.883Z,1628955990.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:31.332Z,1628955991.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:31.332Z,1628955991.332 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:31.332Z,1628955991.332 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:31.334Z,1628955991.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:31.724Z,1628955991.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:32.528Z,1628955992.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154633.11*58

2021-08-14T15:46:33.417Z,1628955993.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:34.962Z,1628955994.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:34.963Z,1628955994.963 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:34.963Z,1628955994.963 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:46:36.201Z,1628955996.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:36.557Z,1628955996.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:36.557Z,1628955996.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:36.557Z,1628955996.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:36.558Z,1628955996.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:36.989Z,1628955996.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,A7,FF
2021-08-14T15:46:36.989Z,1628955996.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:36.990Z,1628955996.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:37.041Z,1628955997.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:37.381Z,1628955997.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:37.777Z,1628955997.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00621,186,80,80,87,FF
2021-08-14T15:46:37.777Z,1628955997.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:38.247Z,1628955998.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 68.821307 deg, deltaT: 21.444398 s, approachRate: 0.503628 m/s, LOS rate: 0.026850 deg/s, posRepo size: 4
2021-08-14T15:46:38.593Z,1628955998.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154638.82*59

2021-08-14T15:46:40.622Z,1628956000.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:41.037Z,1628956001.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:41.037Z,1628956001.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:41.037Z,1628956001.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:41.038Z,1628956001.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:41.409Z,1628956001.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00621,186,80,80,87,FF
2021-08-14T15:46:41.409Z,1628956001.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:41.409Z,1628956001.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:41.411Z,1628956001.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:41.816Z,1628956001.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:42.213Z,1628956002.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00655,184,80,80,9B,FF
2021-08-14T15:46:42.214Z,1628956002.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:42.666Z,1628956002.666 [Micromodem](INFO): Nmea in: $SNTTA,0.055846,,,,154643.19*43

2021-08-14T15:46:42.689Z,1628956002.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.759998 m, bearing: 58.638526 deg, deltaT: 4.430255 s, approachRate: 0.704246 m/s, LOS rate: -2.298464 deg/s, posRepo size: 4
2021-08-14T15:46:45.074Z,1628956005.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:45.449Z,1628956005.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:45.449Z,1628956005.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:45.449Z,1628956005.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:45.450Z,1628956005.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:45.869Z,1628956005.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,00655,184,80,80,9B,FF
2021-08-14T15:46:45.869Z,1628956005.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:45.869Z,1628956005.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:45.871Z,1628956005.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:46.261Z,1628956006.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:47.074Z,1628956007.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154647.65*58

2021-08-14T15:46:47.898Z,1628956007.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:49.500Z,1628956009.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,9B,FF
2021-08-14T15:46:49.501Z,1628956009.501 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,9B,FF
2021-08-14T15:46:49.501Z,1628956009.501 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:46:50.726Z,1628956010.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:51.121Z,1628956011.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:51.121Z,1628956011.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:51.121Z,1628956011.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:51.122Z,1628956011.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:51.505Z,1628956011.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,9B,FF
2021-08-14T15:46:51.505Z,1628956011.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:51.505Z,1628956011.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:51.507Z,1628956011.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:51.934Z,1628956011.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:52.313Z,1628956012.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,006CB,183,80,80,93,FF
2021-08-14T15:46:52.314Z,1628956012.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:52.762Z,1628956012.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154653.28*54

2021-08-14T15:46:52.777Z,1628956012.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.840004 m, bearing: 58.955174 deg, deltaT: 10.112968 s, approachRate: 0.700092 m/s, LOS rate: 0.031311 deg/s, posRepo size: 4
2021-08-14T15:46:55.193Z,1628956015.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:55.545Z,1628956015.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:55.545Z,1628956015.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:55.545Z,1628956015.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:55.546Z,1628956015.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:46:55.984Z,1628956015.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,006CB,183,80,80,93,FF
2021-08-14T15:46:55.984Z,1628956015.984 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:46:55.984Z,1628956015.984 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:46:55.986Z,1628956015.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:46:56.357Z,1628956016.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:46:56.769Z,1628956016.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,006FD,184,80,80,81,FF
2021-08-14T15:46:56.769Z,1628956016.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:46:57.183Z,1628956017.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154657.76*5B

2021-08-14T15:46:57.238Z,1628956017.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 56.111705 deg, deltaT: 4.432302 s, approachRate: 0.676849 m/s, LOS rate: -0.641533 deg/s, posRepo size: 4
2021-08-14T15:46:59.325Z,1628956019.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:46:59.589Z,1628956019.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:46:59.589Z,1628956019.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:46:59.589Z,1628956019.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:46:59.590Z,1628956019.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:00.021Z,1628956020.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,006FD,184,80,80,81,FF
2021-08-14T15:47:00.021Z,1628956020.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:00.021Z,1628956020.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:00.023Z,1628956020.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:00.404Z,1628956020.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:01.202Z,1628956021.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154701.80*50

2021-08-14T15:47:02.068Z,1628956022.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:03.633Z,1628956023.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,184,80,80,81,FF
2021-08-14T15:47:03.634Z,1628956023.634 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,184,80,80,81,FF
2021-08-14T15:47:03.634Z,1628956023.634 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:47:04.877Z,1628956024.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:05.243Z,1628956025.243 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:05.244Z,1628956025.244 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:05.245Z,1628956025.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:05.246Z,1628956025.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:05.658Z,1628956025.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,184,80,80,81,FF
2021-08-14T15:47:05.658Z,1628956025.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:05.659Z,1628956025.659 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:05.662Z,1628956025.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:06.050Z,1628956026.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:06.458Z,1628956026.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,0076D,185,80,80,A7,FF
2021-08-14T15:47:06.458Z,1628956026.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:06.885Z,1628956026.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154707.44*5E

2021-08-14T15:47:06.926Z,1628956026.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.560005 m, bearing: 60.985461 deg, deltaT: 9.720084 s, approachRate: 0.691352 m/s, LOS rate: 0.501411 deg/s, posRepo size: 4
2021-08-14T15:47:09.402Z,1628956029.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:09.700Z,1628956029.700 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:09.701Z,1628956029.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:09.701Z,1628956029.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:09.702Z,1628956029.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:10.101Z,1628956030.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,0076D,185,80,80,A7,FF
2021-08-14T15:47:10.101Z,1628956030.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:10.101Z,1628956030.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:10.103Z,1628956030.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:10.503Z,1628956030.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:10.899Z,1628956030.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,007A2,183,80,80,92,FF
2021-08-14T15:47:10.900Z,1628956030.900 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:11.330Z,1628956031.330 [Micromodem](INFO): Nmea in: $SNTTA,0.466004,0.465885,,,154711.88*5B

2021-08-14T15:47:11.393Z,1628956031.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.740005 m, bearing: 57.831082 deg, deltaT: 4.391182 s, approachRate: 0.724179 m/s, LOS rate: -0.718344 deg/s, posRepo size: 4
2021-08-14T15:47:13.794Z,1628956033.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:14.150Z,1628956034.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:14.150Z,1628956034.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:14.151Z,1628956034.151 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:14.158Z,1628956034.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:14.543Z,1628956034.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,007A2,183,80,80,92,FF
2021-08-14T15:47:14.543Z,1628956034.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:14.544Z,1628956034.544 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:14.547Z,1628956034.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:14.983Z,1628956034.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:15.341Z,1628956035.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,007D5,183,80,80,AE,FF
2021-08-14T15:47:15.341Z,1628956035.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:15.777Z,1628956035.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154716.32*5F

2021-08-14T15:47:15.811Z,1628956035.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 57.579171 deg, deltaT: 4.451006 s, approachRate: 0.687485 m/s, LOS rate: -0.056596 deg/s, posRepo size: 4
2021-08-14T15:47:18.221Z,1628956038.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:18.573Z,1628956038.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:18.573Z,1628956038.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:18.573Z,1628956038.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:18.574Z,1628956038.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:18.999Z,1628956038.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,007D5,183,80,80,AE,FF
2021-08-14T15:47:18.000Z,1628956039.000 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:18.000Z,1628956039.000 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:19.002Z,1628956039.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:19.389Z,1628956039.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:19.797Z,1628956039.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00805,185,80,80,97,FF
2021-08-14T15:47:19.798Z,1628956039.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:20.214Z,1628956040.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154720.78*54

2021-08-14T15:47:20.251Z,1628956040.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.680008 m, bearing: 55.115706 deg, deltaT: 4.450995 s, approachRate: 0.647047 m/s, LOS rate: -0.553464 deg/s, posRepo size: 4
2021-08-14T15:47:22.679Z,1628956042.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:23.041Z,1628956043.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:23.041Z,1628956043.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:23.041Z,1628956043.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:23.042Z,1628956043.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:23.421Z,1628956043.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00805,185,80,80,97,FF
2021-08-14T15:47:23.421Z,1628956043.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:23.421Z,1628956043.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:23.423Z,1628956043.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:23.836Z,1628956043.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:24.229Z,1628956044.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00838,185,80,80,87,FF
2021-08-14T15:47:24.229Z,1628956044.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:24.658Z,1628956044.658 [Micromodem](INFO): Nmea in: $SNTTA,0.337391,0.337766,,,154725.20*50

2021-08-14T15:47:24.711Z,1628956044.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 50.342025 deg, deltaT: 4.545408 s, approachRate: 0.673206 m/s, LOS rate: -1.050220 deg/s, posRepo size: 4
2021-08-14T15:47:27.108Z,1628956047.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:27.465Z,1628956047.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:27.465Z,1628956047.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:27.465Z,1628956047.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:27.466Z,1628956047.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:27.865Z,1628956047.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00838,185,80,80,87,FF
2021-08-14T15:47:27.865Z,1628956047.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:27.865Z,1628956047.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:27.867Z,1628956047.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:28.280Z,1628956048.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:28.674Z,1628956048.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00866,185,80,80,8C,FF
2021-08-14T15:47:28.675Z,1628956048.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:29.117Z,1628956049.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154729.64*50

2021-08-14T15:47:29.214Z,1628956049.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.500008 m, bearing: 55.598102 deg, deltaT: 4.368263 s, approachRate: 0.631831 m/s, LOS rate: 1.203242 deg/s, posRepo size: 4
2021-08-14T15:47:31.519Z,1628956051.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:31.905Z,1628956051.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:31.905Z,1628956051.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:31.905Z,1628956051.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:31.906Z,1628956051.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:32.337Z,1628956052.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00866,185,80,80,8C,FF
2021-08-14T15:47:32.337Z,1628956052.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:32.337Z,1628956052.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:32.339Z,1628956052.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:32.732Z,1628956052.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:33.125Z,1628956053.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00896,185,80,80,79,FF
2021-08-14T15:47:33.125Z,1628956053.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:33.545Z,1628956053.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154734.12*5D

2021-08-14T15:47:33.614Z,1628956053.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.380005 m, bearing: 55.959685 deg, deltaT: 4.470303 s, approachRate: 0.644251 m/s, LOS rate: 0.080886 deg/s, posRepo size: 4
2021-08-14T15:47:36.022Z,1628956056.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:36.381Z,1628956056.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:36.381Z,1628956056.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:36.381Z,1628956056.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:36.382Z,1628956056.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:36.761Z,1628956056.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00896,185,80,80,79,FF
2021-08-14T15:47:36.761Z,1628956056.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:36.761Z,1628956056.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:36.763Z,1628956056.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:37.164Z,1628956057.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:37.573Z,1628956057.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,008D0,184,80,80,8B,FF
2021-08-14T15:47:37.573Z,1628956057.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:38.029Z,1628956058.029 [Micromodem](INFO): Nmea in: $SNTTA,0.070356,,,,154738.54*4A

2021-08-14T15:47:38.054Z,1628956058.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.860008 m, bearing: 54.398748 deg, deltaT: 4.403813 s, approachRate: 0.790225 m/s, LOS rate: -0.354451 deg/s, posRepo size: 4
2021-08-14T15:47:40.442Z,1628956060.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:40.797Z,1628956060.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:40.797Z,1628956060.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:40.797Z,1628956060.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:40.798Z,1628956060.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:41.204Z,1628956061.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,008D0,184,80,80,8B,FF
2021-08-14T15:47:41.204Z,1628956061.204 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:41.205Z,1628956061.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:41.206Z,1628956061.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:41.616Z,1628956061.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:42.025Z,1628956062.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00902,186,80,80,81,FF
2021-08-14T15:47:42.025Z,1628956062.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:42.445Z,1628956062.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154742.99*5F

2021-08-14T15:47:42.497Z,1628956062.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.860001 m, bearing: 51.685459 deg, deltaT: 4.490890 s, approachRate: 0.668017 m/s, LOS rate: -0.604176 deg/s, posRepo size: 4
2021-08-14T15:47:44.883Z,1628956064.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:45.245Z,1628956065.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:45.245Z,1628956065.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:45.245Z,1628956065.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:45.246Z,1628956065.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:45.650Z,1628956065.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00902,186,80,80,81,FF
2021-08-14T15:47:45.650Z,1628956065.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:45.651Z,1628956065.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:45.662Z,1628956065.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:46.058Z,1628956066.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:46.465Z,1628956066.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,0092D,186,80,80,6D,FF
2021-08-14T15:47:46.466Z,1628956066.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:46.469Z,1628956066.469 [Micromodem](INFO): Nmea in: $SNTTA,0.259198,0.260442,,,154747.44*52

2021-08-14T15:47:46.895Z,1628956066.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.440002 m, bearing: 52.774771 deg, deltaT: 4.435303 s, approachRate: 0.581697 m/s, LOS rate: 0.245601 deg/s, posRepo size: 4
2021-08-14T15:47:49.333Z,1628956069.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:49.697Z,1628956069.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:49.697Z,1628956069.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:49.697Z,1628956069.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:49.698Z,1628956069.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:50.097Z,1628956070.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,0092D,186,80,80,6D,FF
2021-08-14T15:47:50.098Z,1628956070.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:50.098Z,1628956070.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:50.099Z,1628956070.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:50.505Z,1628956070.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:51.338Z,1628956071.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154751.88*5D

2021-08-14T15:47:52.153Z,1628956072.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:53.733Z,1628956073.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,6D,FF
2021-08-14T15:47:53.733Z,1628956073.733 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,6D,FF
2021-08-14T15:47:53.733Z,1628956073.733 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:47:55.025Z,1628956075.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:55.345Z,1628956075.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:55.345Z,1628956075.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:55.345Z,1628956075.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:55.346Z,1628956075.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:47:55.757Z,1628956075.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,6D,FF
2021-08-14T15:47:55.757Z,1628956075.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:47:55.757Z,1628956075.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:47:55.759Z,1628956075.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:47:56.153Z,1628956076.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:47:56.558Z,1628956076.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,009A3,186,80,80,60,FF
2021-08-14T15:47:56.558Z,1628956076.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:47:57.005Z,1628956077.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154757.54*5A

2021-08-14T15:47:57.032Z,1628956077.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.519997 m, bearing: 47.408794 deg, deltaT: 10.089329 s, approachRate: 0.701731 m/s, LOS rate: -0.531847 deg/s, posRepo size: 4
2021-08-14T15:47:59.418Z,1628956079.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:47:59.789Z,1628956079.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:47:59.789Z,1628956079.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:47:59.789Z,1628956079.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:47:59.790Z,1628956079.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:00.189Z,1628956080.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,009A3,186,80,80,60,FF
2021-08-14T15:48:00.189Z,1628956080.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:00.190Z,1628956080.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:00.191Z,1628956080.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:00.597Z,1628956080.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:01.422Z,1628956081.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154801.97*59

2021-08-14T15:48:02.250Z,1628956082.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:03.825Z,1628956083.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,60,FF
2021-08-14T15:48:03.825Z,1628956083.825 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,60,FF
2021-08-14T15:48:03.825Z,1628956083.825 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:48:05.073Z,1628956085.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:05.441Z,1628956085.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:05.441Z,1628956085.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:05.441Z,1628956085.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:05.442Z,1628956085.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:05.849Z,1628956085.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,60,FF
2021-08-14T15:48:05.849Z,1628956085.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:05.849Z,1628956085.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:05.851Z,1628956085.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:06.255Z,1628956086.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:07.086Z,1628956087.086 [Micromodem](INFO): Nmea in: $SNTTA,0.166355,,,,154807.63*48

2021-08-14T15:48:07.883Z,1628956087.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:09.481Z,1628956089.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,60,FF
2021-08-14T15:48:09.481Z,1628956089.481 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,60,FF
2021-08-14T15:48:09.481Z,1628956089.481 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:48:10.393Z,1628956090.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:10.709Z,1628956090.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:10.709Z,1628956090.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:10.709Z,1628956090.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:10.710Z,1628956090.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:11.101Z,1628956091.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,60,FF
2021-08-14T15:48:11.101Z,1628956091.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:11.101Z,1628956091.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:11.103Z,1628956091.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:11.521Z,1628956091.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:11.921Z,1628956091.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00A53,186,80,80,5F,FF
2021-08-14T15:48:11.921Z,1628956091.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:48:12.389Z,1628956092.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154812.88*55

2021-08-14T15:48:12.467Z,1628956092.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.080002 m, bearing: 52.794176 deg, deltaT: 15.370127 s, approachRate: 0.687047 m/s, LOS rate: 0.350380 deg/s, posRepo size: 4
2021-08-14T15:48:14.775Z,1628956094.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:15.137Z,1628956095.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:15.137Z,1628956095.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:15.137Z,1628956095.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:15.138Z,1628956095.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:15.549Z,1628956095.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00A53,186,80,80,5F,FF
2021-08-14T15:48:15.549Z,1628956095.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:15.549Z,1628956095.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:15.551Z,1628956095.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:15.991Z,1628956095.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:16.790Z,1628956096.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154817.33*50

2021-08-14T15:48:17.601Z,1628956097.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:19.221Z,1628956099.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:19.221Z,1628956099.221 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:19.221Z,1628956099.221 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:48:20.475Z,1628956100.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:20.824Z,1628956100.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:20.824Z,1628956100.824 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:20.824Z,1628956100.824 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:20.825Z,1628956100.825 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:21.225Z,1628956101.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:21.225Z,1628956101.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:21.225Z,1628956101.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:21.227Z,1628956101.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:21.628Z,1628956101.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:22.458Z,1628956102.458 [Micromodem](INFO): Nmea in: $SNTTA,0.475918,0.475731,,,154823.01*53

2021-08-14T15:48:23.266Z,1628956103.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:24.861Z,1628956104.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:24.861Z,1628956104.861 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:24.861Z,1628956104.861 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:48:26.101Z,1628956106.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:26.472Z,1628956106.472 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:26.473Z,1628956106.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:26.473Z,1628956106.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:26.474Z,1628956106.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:26.894Z,1628956106.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:26.894Z,1628956106.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:26.894Z,1628956106.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:26.896Z,1628956106.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:27.281Z,1628956107.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:28.106Z,1628956108.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154828.68*52

2021-08-14T15:48:28.910Z,1628956108.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:30.509Z,1628956110.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:30.509Z,1628956110.509 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:30.509Z,1628956110.509 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:48:31.775Z,1628956111.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:32.129Z,1628956112.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:32.129Z,1628956112.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:32.130Z,1628956112.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:32.131Z,1628956112.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:32.547Z,1628956112.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,5F,FF
2021-08-14T15:48:32.547Z,1628956112.547 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:32.548Z,1628956112.548 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:32.550Z,1628956112.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:32.954Z,1628956112.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:33.342Z,1628956113.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00B45,186,80,80,5B,FF
2021-08-14T15:48:33.342Z,1628956113.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:48:33.769Z,1628956113.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154834.33*51

2021-08-14T15:48:33.792Z,1628956113.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.600006 m, bearing: 49.206940 deg, deltaT: 21.378559 s, approachRate: 0.679185 m/s, LOS rate: -0.167796 deg/s, posRepo size: 4
2021-08-14T15:48:36.193Z,1628956116.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:36.578Z,1628956116.579 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:36.579Z,1628956116.579 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:36.579Z,1628956116.579 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:36.580Z,1628956116.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:37.013Z,1628956117.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00B45,186,80,80,5B,FF
2021-08-14T15:48:37.013Z,1628956117.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:37.013Z,1628956117.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:37.015Z,1628956117.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:37.383Z,1628956117.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:37.789Z,1628956117.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,080,000,00B7E,186,80,80,5B,FF
2021-08-14T15:48:37.789Z,1628956117.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:48:38.212Z,1628956118.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154838.79*53

2021-08-14T15:48:38.267Z,1628956118.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.020004 m, bearing: 51.469956 deg, deltaT: 4.441662 s, approachRate: 0.769982 m/s, LOS rate: 0.509498 deg/s, posRepo size: 4
2021-08-14T15:48:40.682Z,1628956120.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:41.037Z,1628956121.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:41.037Z,1628956121.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:41.037Z,1628956121.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:41.038Z,1628956121.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:41.425Z,1628956121.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
080,000,00B7E,186,80,80,5B,FF
2021-08-14T15:48:41.426Z,1628956121.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:41.426Z,1628956121.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:41.445Z,1628956121.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:41.824Z,1628956121.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:42.656Z,1628956122.656 [Micromodem](INFO): Nmea in: $SNTTA,0.368058,,,,154843.23*4E

2021-08-14T15:48:43.454Z,1628956123.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:45.053Z,1628956125.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,5B,FF
2021-08-14T15:48:45.053Z,1628956125.053 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,5B,FF
2021-08-14T15:48:45.053Z,1628956125.053 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:48:46.374Z,1628956126.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:46.677Z,1628956126.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:46.677Z,1628956126.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:46.677Z,1628956126.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:46.678Z,1628956126.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:47.073Z,1628956127.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,5B,FF
2021-08-14T15:48:47.073Z,1628956127.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:47.073Z,1628956127.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:47.075Z,1628956127.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:47.496Z,1628956127.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:47.885Z,1628956127.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,00BF5,185,80,80,4B,FF
2021-08-14T15:48:47.885Z,1628956127.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:48:48.341Z,1628956128.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154848.85*57

2021-08-14T15:48:48.403Z,1628956128.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.160004 m, bearing: 41.451267 deg, deltaT: 10.157494 s, approachRate: 0.702929 m/s, LOS rate: -0.986335 deg/s, posRepo size: 4
2021-08-14T15:48:50.734Z,1628956130.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:51.109Z,1628956131.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:51.109Z,1628956131.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:51.109Z,1628956131.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:51.110Z,1628956131.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:51.525Z,1628956131.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,00BF5,185,80,80,4B,FF
2021-08-14T15:48:51.525Z,1628956131.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:51.526Z,1628956131.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:51.527Z,1628956131.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:51.950Z,1628956131.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:52.004Z,1628956132.004 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T15:48:52.365Z,1628956132.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,00C27,186,80,80,48,FF
2021-08-14T15:48:52.366Z,1628956132.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:48:52.771Z,1628956132.771 [Micromodem](INFO): Nmea in: $SNTTA,0.101880,,,,154853.31*4C

2021-08-14T15:48:52.805Z,1628956132.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.160004 m, bearing: 38.696218 deg, deltaT: 4.463872 s, approachRate: 0.672062 m/s, LOS rate: -0.617188 deg/s, posRepo size: 4
2021-08-14T15:48:55.205Z,1628956135.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:48:55.561Z,1628956135.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:48:55.561Z,1628956135.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:48:55.561Z,1628956135.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:48:55.562Z,1628956135.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:48:55.985Z,1628956135.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,00C27,186,80,80,48,FF
2021-08-14T15:48:55.985Z,1628956135.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:48:55.985Z,1628956135.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:48:55.987Z,1628956135.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:48:56.402Z,1628956136.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:48:56.786Z,1628956136.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00C5D,186,80,80,48,FF
2021-08-14T15:48:56.787Z,1628956136.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:48:57.205Z,1628956137.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154857.77*54

2021-08-14T15:48:57.231Z,1628956137.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.399994 m, bearing: 49.056594 deg, deltaT: 4.373061 s, approachRate: 0.740898 m/s, LOS rate: 2.369136 deg/s, posRepo size: 4
2021-08-14T15:48:59.663Z,1628956139.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:00.029Z,1628956140.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:00.029Z,1628956140.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:00.029Z,1628956140.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:00.030Z,1628956140.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:00.419Z,1628956140.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00C5D,186,80,80,48,FF
2021-08-14T15:49:00.419Z,1628956140.419 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:00.419Z,1628956140.419 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:00.421Z,1628956140.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:00.824Z,1628956140.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:01.222Z,1628956141.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,00C96,185,80,80,48,FF
2021-08-14T15:49:01.222Z,1628956141.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:01.662Z,1628956141.662 [Micromodem](INFO): Nmea in: $SNTTA,0.106256,,,,154902.20*4F

2021-08-14T15:49:01.694Z,1628956141.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.819992 m, bearing: 40.651326 deg, deltaT: 4.466551 s, approachRate: 0.765691 m/s, LOS rate: -1.881825 deg/s, posRepo size: 4
2021-08-14T15:49:04.091Z,1628956144.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:04.453Z,1628956144.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:04.453Z,1628956144.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:04.453Z,1628956144.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:04.454Z,1628956144.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:04.857Z,1628956144.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,00C96,185,80,80,48,FF
2021-08-14T15:49:04.857Z,1628956144.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:04.857Z,1628956144.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:04.859Z,1628956144.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:05.265Z,1628956145.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:06.097Z,1628956146.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,01158,187,80,80,54,FF
2021-08-14T15:49:06.097Z,1628956146.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:06.100Z,1628956146.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154906.64*53

2021-08-14T15:49:06.532Z,1628956146.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.899979 m, bearing: 49.915490 deg, deltaT: 4.852021 s, approachRate: 15.061762 m/s, LOS rate: 1.909341 deg/s, posRepo size: 4
2021-08-14T15:49:08.931Z,1628956148.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:09.305Z,1628956149.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:09.305Z,1628956149.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:09.305Z,1628956149.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:09.306Z,1628956149.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:09.709Z,1628956149.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,01158,187,80,80,54,FF
2021-08-14T15:49:09.709Z,1628956149.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:09.709Z,1628956149.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:09.711Z,1628956149.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:10.124Z,1628956150.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:10.513Z,1628956150.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00CF8,187,80,80,54,FF
2021-08-14T15:49:10.514Z,1628956150.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:10.960Z,1628956150.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154911.49*5A

2021-08-14T15:49:11.011Z,1628956151.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.699997 m, bearing: 47.313926 deg, deltaT: 4.483690 s, approachRate: -14.987651 m/s, LOS rate: -0.580228 deg/s, posRepo size: 4
2021-08-14T15:49:13.384Z,1628956153.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:13.749Z,1628956153.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:13.749Z,1628956153.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:13.749Z,1628956153.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:13.750Z,1628956153.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:14.157Z,1628956154.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00CF8,187,80,80,54,FF
2021-08-14T15:49:14.157Z,1628956154.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:14.157Z,1628956154.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:14.159Z,1628956154.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:14.589Z,1628956154.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:14.997Z,1628956154.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,00D43,186,80,80,3C,FF
2021-08-14T15:49:14.998Z,1628956154.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:15.418Z,1628956155.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.200012 m, bearing: 44.623460 deg, deltaT: 4.462331 s, approachRate: 1.008445 m/s, LOS rate: -0.602928 deg/s, posRepo size: 4
2021-08-14T15:49:17.823Z,1628956157.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:18.201Z,1628956158.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:18.201Z,1628956158.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:18.201Z,1628956158.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:18.202Z,1628956158.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:18.613Z,1628956158.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,00D43,186,80,80,3C,FF
2021-08-14T15:49:18.613Z,1628956158.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:18.613Z,1628956158.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:18.615Z,1628956158.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:19.032Z,1628956159.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:19.414Z,1628956159.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00D43,186,80,80,3C,FF
2021-08-14T15:49:19.414Z,1628956159.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:19.849Z,1628956159.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154920.40*51

2021-08-14T15:49:19.880Z,1628956159.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.200012 m, bearing: 46.407365 deg, deltaT: 4.389129 s, approachRate: 0.000000 m/s, LOS rate: 0.406437 deg/s, posRepo size: 4
2021-08-14T15:49:22.315Z,1628956162.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:22.665Z,1628956162.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:22.666Z,1628956162.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:22.666Z,1628956162.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:22.667Z,1628956162.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:23.049Z,1628956163.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00D43,186,80,80,3C,FF
2021-08-14T15:49:23.049Z,1628956163.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:23.049Z,1628956163.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:23.051Z,1628956163.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:23.461Z,1628956163.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:24.344Z,1628956164.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154924.83*5A

2021-08-14T15:49:25.101Z,1628956165.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:26.697Z,1628956166.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,3C,FF
2021-08-14T15:49:26.697Z,1628956166.697 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,3C,FF
2021-08-14T15:49:26.698Z,1628956166.698 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:49:27.923Z,1628956167.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:28.320Z,1628956168.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:28.321Z,1628956168.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:28.321Z,1628956168.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:28.323Z,1628956168.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:28.725Z,1628956168.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,3C,FF
2021-08-14T15:49:28.725Z,1628956168.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:28.725Z,1628956168.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:28.733Z,1628956168.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:29.132Z,1628956169.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:29.933Z,1628956169.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154930.51*50

2021-08-14T15:49:30.429Z,1628956170.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:32.385Z,1628956172.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,3C,FF
2021-08-14T15:49:32.386Z,1628956172.386 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,3C,FF
2021-08-14T15:49:32.386Z,1628956172.386 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:49:33.187Z,1628956173.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:33.553Z,1628956173.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:33.553Z,1628956173.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:33.553Z,1628956173.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:33.554Z,1628956173.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:33.981Z,1628956173.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,3C,FF
2021-08-14T15:49:33.981Z,1628956173.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:33.982Z,1628956173.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:33.989Z,1628956173.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:34.409Z,1628956174.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:34.427Z,1628956174.427 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T15:49:35.183Z,1628956175.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00E25,186,80,80,38,FF
2021-08-14T15:49:35.188Z,1628956175.188 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:35.191Z,1628956175.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154935.77*51

2021-08-14T15:49:35.615Z,1628956175.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.760010 m, bearing: 62.938212 deg, deltaT: 15.797201 s, approachRate: 0.858380 m/s, LOS rate: 1.046442 deg/s, posRepo size: 4
2021-08-14T15:49:38.113Z,1628956178.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:38.413Z,1628956178.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:38.413Z,1628956178.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:38.413Z,1628956178.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:38.414Z,1628956178.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:38.809Z,1628956178.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00E25,186,80,80,38,FF
2021-08-14T15:49:38.809Z,1628956178.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:38.809Z,1628956178.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:38.811Z,1628956178.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:39.228Z,1628956179.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:39.626Z,1628956179.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00E25,186,80,80,38,FF
2021-08-14T15:49:39.626Z,1628956179.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:40.066Z,1628956180.066 [Micromodem](INFO): Nmea in: $SNTTA,0.123636,,,,154940.59*42

2021-08-14T15:49:40.092Z,1628956180.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.760010 m, bearing: 44.418738 deg, deltaT: 4.427006 s, approachRate: 0.000000 m/s, LOS rate: -4.183295 deg/s, posRepo size: 4
2021-08-14T15:49:42.516Z,1628956182.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:42.853Z,1628956182.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:42.853Z,1628956182.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:42.853Z,1628956182.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:42.854Z,1628956182.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:43.265Z,1628956183.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00E25,186,80,80,38,FF
2021-08-14T15:49:43.265Z,1628956183.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:43.265Z,1628956183.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:43.267Z,1628956183.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:43.678Z,1628956183.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:44.501Z,1628956184.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154945.05*53

2021-08-14T15:49:45.313Z,1628956185.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:46.893Z,1628956186.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,38,FF
2021-08-14T15:49:46.893Z,1628956186.893 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,38,FF
2021-08-14T15:49:46.893Z,1628956186.893 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:49:48.141Z,1628956188.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:48.509Z,1628956188.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:48.509Z,1628956188.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:48.509Z,1628956188.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:48.510Z,1628956188.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:48.921Z,1628956188.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,38,FF
2021-08-14T15:49:48.921Z,1628956188.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:48.921Z,1628956188.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:48.923Z,1628956188.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:49.340Z,1628956189.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:50.158Z,1628956190.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154950.70*55

2021-08-14T15:49:51.003Z,1628956191.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:52.557Z,1628956192.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,0945F,186,80,80,45,FF
2021-08-14T15:49:52.557Z,1628956192.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:49:53.038Z,1628956193.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2241.479980 m, bearing: 43.710936 deg, deltaT: 12.936659 s, approachRate: 159.370361 m/s, LOS rate: -0.054713 deg/s, posRepo size: 4
2021-08-14T15:49:53.038Z,1628956193.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2241.48 m. Resuming terminal guidance.
2021-08-14T15:49:53.038Z,1628956193.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:49:54.607Z,1628956194.607 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:49:55.407Z,1628956195.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:55.789Z,1628956195.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:49:55.789Z,1628956195.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:49:55.789Z,1628956195.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:49:55.790Z,1628956195.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:49:56.189Z,1628956196.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,0945F,186,80,80,45,FF
2021-08-14T15:49:56.189Z,1628956196.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:49:56.190Z,1628956196.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:49:56.191Z,1628956196.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:49:56.597Z,1628956196.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:49:57.430Z,1628956197.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154957.97*5B

2021-08-14T15:49:58.238Z,1628956198.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:49:58.644Z,1628956198.644 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:49:59.825Z,1628956199.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,45,FF
2021-08-14T15:49:59.826Z,1628956199.826 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,45,FF
2021-08-14T15:49:59.826Z,1628956199.826 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:50:01.105Z,1628956201.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:01.443Z,1628956201.443 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:01.443Z,1628956201.443 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:01.443Z,1628956201.443 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:01.444Z,1628956201.444 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:01.855Z,1628956201.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,45,FF
2021-08-14T15:50:01.855Z,1628956201.855 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:01.855Z,1628956201.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:01.858Z,1628956201.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:02.256Z,1628956202.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:03.069Z,1628956203.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00F76,187,80,80,32,FF
2021-08-14T15:50:03.070Z,1628956203.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:03.072Z,1628956203.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155003.64*5E

2021-08-14T15:50:03.507Z,1628956203.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.979980 m, bearing: 62.022018 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:50:03.508Z,1628956203.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 62.022018deg and heading rate command to 0 deg/s.
2021-08-14T15:50:04.339Z,1628956204.339 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:50:05.934Z,1628956205.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:06.294Z,1628956206.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:06.294Z,1628956206.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:06.295Z,1628956206.295 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:06.296Z,1628956206.296 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:06.702Z,1628956206.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00F76,187,80,80,32,FF
2021-08-14T15:50:06.702Z,1628956206.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:06.703Z,1628956206.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:06.705Z,1628956206.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:07.105Z,1628956207.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:07.935Z,1628956207.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155008.49*5A

2021-08-14T15:50:08.742Z,1628956208.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:10.369Z,1628956210.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,32,FF
2021-08-14T15:50:10.369Z,1628956210.369 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,32,FF
2021-08-14T15:50:10.369Z,1628956210.369 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:50:11.560Z,1628956211.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:11.958Z,1628956211.958 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:11.959Z,1628956211.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:11.959Z,1628956211.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:11.965Z,1628956211.965 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:12.379Z,1628956212.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,32,FF
2021-08-14T15:50:12.379Z,1628956212.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:12.379Z,1628956212.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:12.382Z,1628956212.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:12.757Z,1628956212.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:13.559Z,1628956213.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00FEB,186,80,80,75,FF
2021-08-14T15:50:13.560Z,1628956213.560 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:13.567Z,1628956213.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155014.16*5D

2021-08-14T15:50:14.035Z,1628956214.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 75.069045 deg, deltaT: 10.492160 s, approachRate: 0.669073 m/s, LOS rate: 1.243503 deg/s, posRepo size: 2
2021-08-14T15:50:14.038Z,1628956214.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.000000 m,
      bearing: 75.069045 deg,
      approachRate: 0.669073 m/s,
      LOS rate: 1.243503 deg/s,
      cmd update: 3.730508 deg/s,
      cmd heading: 62.022018 deg,
      new cmd heading: 62.022018 deg.

2021-08-14T15:50:14.423Z,1628956214.423 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T15:50:16.481Z,1628956216.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:16.793Z,1628956216.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:16.793Z,1628956216.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:16.794Z,1628956216.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:16.795Z,1628956216.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:17.193Z,1628956217.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00FEB,186,80,80,75,FF
2021-08-14T15:50:17.193Z,1628956217.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:17.193Z,1628956217.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:17.195Z,1628956217.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:17.600Z,1628956217.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:18.430Z,1628956218.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155018.97*58

2021-08-14T15:50:19.241Z,1628956219.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:20.829Z,1628956220.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,75,FF
2021-08-14T15:50:20.829Z,1628956220.829 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,75,FF
2021-08-14T15:50:20.829Z,1628956220.829 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:50:22.089Z,1628956222.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:22.445Z,1628956222.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:22.445Z,1628956222.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:22.445Z,1628956222.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:22.446Z,1628956222.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:22.861Z,1628956222.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,75,FF
2021-08-14T15:50:22.861Z,1628956222.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:22.861Z,1628956222.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:22.863Z,1628956222.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:23.256Z,1628956223.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:24.090Z,1628956224.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155024.64*5B

2021-08-14T15:50:24.486Z,1628956224.486 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:50:24.881Z,1628956224.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:26.485Z,1628956226.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,75,FF
2021-08-14T15:50:26.485Z,1628956226.485 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,75,FF
2021-08-14T15:50:26.485Z,1628956226.485 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:50:27.731Z,1628956227.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:28.097Z,1628956228.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:28.097Z,1628956228.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:28.097Z,1628956228.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:28.098Z,1628956228.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:28.505Z,1628956228.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,75,FF
2021-08-14T15:50:28.505Z,1628956228.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:28.506Z,1628956228.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:28.507Z,1628956228.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:28.945Z,1628956228.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:29.753Z,1628956229.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,0109A,189,80,80,5D,FF
2021-08-14T15:50:29.753Z,1628956229.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:29.756Z,1628956229.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155030.29*57

2021-08-14T15:50:30.202Z,1628956230.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.500000 m, bearing: 145.854947 deg, deltaT: 16.189531 s, approachRate: 0.648567 m/s, LOS rate: 4.372326 deg/s, posRepo size: 3
2021-08-14T15:50:30.210Z,1628956230.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.500000 m,
      bearing: 145.854947 deg,
      approachRate: 0.648567 m/s,
      LOS rate: 4.372326 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 122.415903 deg,
      new cmd heading: 123.883768 deg.

2021-08-14T15:50:32.623Z,1628956232.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:32.989Z,1628956232.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:32.989Z,1628956232.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:32.989Z,1628956232.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:32.990Z,1628956232.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:33.377Z,1628956233.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D00,000,0109A,189,80,80,5D,FF
2021-08-14T15:50:33.377Z,1628956233.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:33.377Z,1628956233.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:33.379Z,1628956233.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:33.784Z,1628956233.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:34.621Z,1628956234.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C64,000,010BD,189,80,80,6E,FF
2021-08-14T15:50:34.621Z,1628956234.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:34.624Z,1628956234.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155035.16*5E

2021-08-14T15:50:35.068Z,1628956235.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.599991 m, bearing: 172.359837 deg, deltaT: 4.875280 s, approachRate: 0.430743 m/s, LOS rate: 5.436589 deg/s, posRepo size: 4
2021-08-14T15:50:35.070Z,1628956235.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.599991 m,
      bearing: 172.359837 deg,
      approachRate: 0.430743 m/s,
      LOS rate: 5.436589 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 181.020053 deg,
      new cmd heading: 185.531345 deg.

2021-08-14T15:50:37.438Z,1628956237.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:37.825Z,1628956237.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:37.825Z,1628956237.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:37.825Z,1628956237.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:37.826Z,1628956237.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:38.233Z,1628956238.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C64,000,010BD,189,80,80,6E,FF
2021-08-14T15:50:38.234Z,1628956238.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:38.234Z,1628956238.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:38.236Z,1628956238.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:38.650Z,1628956238.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:39.470Z,1628956239.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,010CD,188,80,80,93,FF
2021-08-14T15:50:39.470Z,1628956239.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:39.473Z,1628956239.473 [Micromodem](INFO): Nmea in: $SNTTA,0.149071,,,,155040.02*4D

2021-08-14T15:50:39.888Z,1628956239.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.559998 m, bearing: 173.964276 deg, deltaT: 4.824826 s, approachRate: 0.198972 m/s, LOS rate: 0.332538 deg/s, posRepo size: 4
2021-08-14T15:50:39.890Z,1628956239.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.559998 m,
      bearing: 173.964276 deg,
      approachRate: 0.198972 m/s,
      LOS rate: 0.332538 deg/s,
      cmd update: 0.997614 deg/s,
      cmd heading: 238.578847 deg,
      new cmd heading: 243.368827 deg.

2021-08-14T15:50:42.348Z,1628956242.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:42.677Z,1628956242.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:42.677Z,1628956242.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:42.677Z,1628956242.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:42.678Z,1628956242.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:43.077Z,1628956243.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,010CD,188,80,80,93,FF
2021-08-14T15:50:43.077Z,1628956243.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:43.078Z,1628956243.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:43.079Z,1628956243.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:43.485Z,1628956243.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:44.353Z,1628956244.353 [Micromodem](INFO): Nmea in: $SNTTA,0.149025,,,,155044.86*44

2021-08-14T15:50:45.121Z,1628956245.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:46.713Z,1628956246.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,93,FF
2021-08-14T15:50:46.713Z,1628956246.713 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,93,FF
2021-08-14T15:50:46.713Z,1628956246.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:50:47.988Z,1628956247.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:48.373Z,1628956248.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:48.373Z,1628956248.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:48.373Z,1628956248.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:48.374Z,1628956248.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:48.725Z,1628956248.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,93,FF
2021-08-14T15:50:48.725Z,1628956248.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:48.726Z,1628956248.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:48.727Z,1628956248.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:49.136Z,1628956249.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:49.980Z,1628956249.980 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA5,000,010B6,189,80,80,97,FF
2021-08-14T15:50:49.981Z,1628956249.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:49.985Z,1628956249.985 [Micromodem](INFO): Nmea in: $SNTTA,0.149094,,,,155050.51*41

2021-08-14T15:50:50.433Z,1628956250.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.179993 m, bearing: 241.229687 deg, deltaT: 10.539126 s, approachRate: -0.130941 m/s, LOS rate: 6.382447 deg/s, posRepo size: 4
2021-08-14T15:50:50.435Z,1628956250.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.179993 m,
      bearing: 241.229687 deg,
      approachRate: -0.130941 m/s,
      LOS rate: 6.382447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 249.117037 deg,
      new cmd heading: 249.497090 deg.

2021-08-14T15:50:52.787Z,1628956252.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:53.173Z,1628956253.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:53.173Z,1628956253.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:53.173Z,1628956253.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:53.174Z,1628956253.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:53.577Z,1628956253.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA5,000,010B6,189,80,80,97,FF
2021-08-14T15:50:53.577Z,1628956253.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:53.577Z,1628956253.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:53.579Z,1628956253.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:54.027Z,1628956254.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:54.436Z,1628956254.436 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T15:50:54.436Z,1628956254.436 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T15:50:54.436Z,1628956254.436 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T15:50:54.509Z,1628956254.509 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T15:50:54.805Z,1628956254.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,01093,188,80,80,7B,FF
2021-08-14T15:50:54.805Z,1628956254.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:54.808Z,1628956254.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155055.36*5A

2021-08-14T15:50:54.880Z,1628956254.880 [RDI_Pathfinder](INFO): Powering down
2021-08-14T15:50:55.230Z,1628956255.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.079987 m, bearing: 192.003502 deg, deltaT: 4.860192 s, approachRate: -0.432083 m/s, LOS rate: -10.128444 deg/s, posRepo size: 4
2021-08-14T15:50:55.233Z,1628956255.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.079987 m,
      bearing: 192.003502 deg,
      approachRate: -0.432083 m/s,
      LOS rate: -10.128444 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 307.482447 deg,
      new cmd heading: 311.257947 deg.

2021-08-14T15:50:55.704Z,1628956255.704 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T15:50:55.704Z,1628956255.704 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T15:50:57.635Z,1628956257.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:50:58.034Z,1628956258.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:50:58.034Z,1628956258.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:50:58.034Z,1628956258.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:50:58.035Z,1628956258.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:50:58.429Z,1628956258.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,01093,188,80,80,7B,FF
2021-08-14T15:50:58.429Z,1628956258.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:50:58.429Z,1628956258.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:50:58.431Z,1628956258.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:50:58.836Z,1628956258.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:50:59.658Z,1628956259.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,01067,187,80,80,77,FF
2021-08-14T15:50:59.658Z,1628956259.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:50:59.690Z,1628956259.690 [Micromodem](INFO): Nmea in: $SNTTA,0.144999,,,,155100.21*4B

2021-08-14T15:51:00.100Z,1628956260.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.440002 m, bearing: 246.673047 deg, deltaT: 4.813458 s, approachRate: -0.548459 m/s, LOS rate: 11.357644 deg/s, posRepo size: 4
2021-08-14T15:51:00.102Z,1628956260.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.440002 m,
      bearing: 246.673047 deg,
      approachRate: -0.548459 m/s,
      LOS rate: 11.357644 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 249.763321 deg,
      new cmd heading: 245.268361 deg.

2021-08-14T15:51:02.497Z,1628956262.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:02.873Z,1628956262.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:02.873Z,1628956262.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:02.873Z,1628956262.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:02.874Z,1628956262.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:03.285Z,1628956263.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,01067,187,80,80,77,FF
2021-08-14T15:51:03.285Z,1628956263.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:03.285Z,1628956263.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:03.287Z,1628956263.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:03.697Z,1628956263.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:04.521Z,1628956264.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,0103B,185,80,80,86,FF
2021-08-14T15:51:04.521Z,1628956264.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:04.524Z,1628956264.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155105.07*5C

2021-08-14T15:51:04.948Z,1628956264.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.799988 m, bearing: 245.207725 deg, deltaT: 4.810398 s, approachRate: -0.548814 m/s, LOS rate: -0.304615 deg/s, posRepo size: 4
2021-08-14T15:51:04.965Z,1628956264.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.799988 m,
      bearing: 245.207725 deg,
      approachRate: -0.548814 m/s,
      LOS rate: -0.304615 deg/s,
      cmd update: -0.913846 deg/s,
      cmd heading: 307.535272 deg,
      new cmd heading: 312.189196 deg.

2021-08-14T15:51:07.355Z,1628956267.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:07.725Z,1628956267.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:07.725Z,1628956267.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:07.725Z,1628956267.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:07.726Z,1628956267.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:08.121Z,1628956268.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,0103B,185,80,80,86,FF
2021-08-14T15:51:08.121Z,1628956268.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:08.122Z,1628956268.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:08.123Z,1628956268.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:08.548Z,1628956268.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:09.362Z,1628956269.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,01000,189,80,80,80,FF
2021-08-14T15:51:09.362Z,1628956269.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:09.365Z,1628956269.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155109.90*5E

2021-08-14T15:51:09.779Z,1628956269.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.259979 m, bearing: 241.686025 deg, deltaT: 4.898264 s, approachRate: -0.722707 m/s, LOS rate: -0.718969 deg/s, posRepo size: 4
2021-08-14T15:51:09.781Z,1628956269.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.259979 m,
      bearing: 241.686025 deg,
      approachRate: -0.722707 m/s,
      LOS rate: -0.718969 deg/s,
      cmd update: -2.156907 deg/s,
      cmd heading: 303.059333 deg,
      new cmd heading: 302.747279 deg.

2021-08-14T15:51:12.255Z,1628956272.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:12.569Z,1628956272.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:12.569Z,1628956272.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:12.569Z,1628956272.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:12.570Z,1628956272.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:13.013Z,1628956273.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,01000,189,80,80,80,FF
2021-08-14T15:51:13.013Z,1628956273.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:13.014Z,1628956273.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:13.015Z,1628956273.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:13.390Z,1628956273.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:14.191Z,1628956274.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,486,000,00FE3,189,80,80,A9,FF
2021-08-14T15:51:14.192Z,1628956274.192 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:14.199Z,1628956274.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155114.80*53

2021-08-14T15:51:14.623Z,1628956274.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.519989 m, bearing: 238.647602 deg, deltaT: 4.869542 s, approachRate: -0.357321 m/s, LOS rate: -0.623965 deg/s, posRepo size: 4
2021-08-14T15:51:14.626Z,1628956274.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.519989 m,
      bearing: 238.647602 deg,
      approachRate: -0.357321 m/s,
      LOS rate: -0.623965 deg/s,
      cmd update: -1.871895 deg/s,
      cmd heading: 292.564032 deg,
      new cmd heading: 291.874356 deg.

2021-08-14T15:51:17.078Z,1628956277.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:17.425Z,1628956277.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:17.425Z,1628956277.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:17.426Z,1628956277.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:17.427Z,1628956277.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:17.817Z,1628956277.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
486,000,00FE3,189,80,80,A9,FF
2021-08-14T15:51:17.817Z,1628956277.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:17.817Z,1628956277.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:17.819Z,1628956277.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:18.245Z,1628956278.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:19.057Z,1628956279.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B5,000,00FC3,189,80,80,90,FF
2021-08-14T15:51:19.057Z,1628956279.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:19.084Z,1628956279.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155119.60*50

2021-08-14T15:51:19.472Z,1628956279.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.600006 m, bearing: 242.388415 deg, deltaT: 4.826402 s, approachRate: -0.397808 m/s, LOS rate: 0.775073 deg/s, posRepo size: 4
2021-08-14T15:51:19.474Z,1628956279.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.600006 m,
      bearing: 242.388415 deg,
      approachRate: -0.397808 m/s,
      LOS rate: 0.775073 deg/s,
      cmd update: 2.325218 deg/s,
      cmd heading: 283.529534 deg,
      new cmd heading: 282.889461 deg.

2021-08-14T15:51:21.879Z,1628956281.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:22.277Z,1628956282.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:22.277Z,1628956282.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:22.277Z,1628956282.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:22.278Z,1628956282.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:22.677Z,1628956282.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B5,000,00FC3,189,80,80,90,FF
2021-08-14T15:51:22.677Z,1628956282.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:22.677Z,1628956282.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:22.679Z,1628956282.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:23.088Z,1628956283.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:23.913Z,1628956283.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,00F9A,189,80,80,9E,FF
2021-08-14T15:51:23.913Z,1628956283.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:23.916Z,1628956283.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155124.46*5A

2021-08-14T15:51:24.380Z,1628956284.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.139984 m, bearing: 236.961174 deg, deltaT: 4.862109 s, approachRate: -0.505958 m/s, LOS rate: -1.116232 deg/s, posRepo size: 4
2021-08-14T15:51:24.382Z,1628956284.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.139984 m,
      bearing: 236.961174 deg,
      approachRate: -0.505958 m/s,
      LOS rate: -1.116232 deg/s,
      cmd update: -3.348696 deg/s,
      cmd heading: 294.834303 deg,
      new cmd heading: 295.727992 deg.

2021-08-14T15:51:26.735Z,1628956286.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:27.122Z,1628956287.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:27.122Z,1628956287.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:27.122Z,1628956287.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:27.123Z,1628956287.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:27.526Z,1628956287.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,00F9A,189,80,80,9E,FF
2021-08-14T15:51:27.526Z,1628956287.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:27.526Z,1628956287.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:27.528Z,1628956287.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:27.977Z,1628956287.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:28.757Z,1628956288.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D4,000,00F71,189,80,80,97,FF
2021-08-14T15:51:28.758Z,1628956288.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:28.760Z,1628956288.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155129.31*57

2021-08-14T15:51:29.174Z,1628956289.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.680008 m, bearing: 235.977572 deg, deltaT: 4.815569 s, approachRate: -0.510838 m/s, LOS rate: -0.204255 deg/s, posRepo size: 4
2021-08-14T15:51:29.177Z,1628956289.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.680008 m,
      bearing: 235.977572 deg,
      approachRate: -0.510838 m/s,
      LOS rate: -0.204255 deg/s,
      cmd update: -0.612764 deg/s,
      cmd heading: 278.694645 deg,
      new cmd heading: 277.479396 deg.

2021-08-14T15:51:31.586Z,1628956291.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:31.987Z,1628956291.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:31.987Z,1628956291.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:31.988Z,1628956291.988 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:31.989Z,1628956291.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:32.361Z,1628956292.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D4,000,00F71,189,80,80,97,FF
2021-08-14T15:51:32.361Z,1628956292.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:32.362Z,1628956292.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:32.363Z,1628956292.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:32.787Z,1628956292.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:33.610Z,1628956293.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31D,000,00F47,189,80,80,9B,FF
2021-08-14T15:51:33.611Z,1628956293.611 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:33.615Z,1628956293.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155134.14*5C

2021-08-14T15:51:34.058Z,1628956294.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.160004 m, bearing: 237.499939 deg, deltaT: 4.820582 s, approachRate: -0.522759 m/s, LOS rate: 0.315806 deg/s, posRepo size: 4
2021-08-14T15:51:34.066Z,1628956294.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.160004 m,
      bearing: 237.499939 deg,
      approachRate: -0.522759 m/s,
      LOS rate: 0.315806 deg/s,
      cmd update: 0.947417 deg/s,
      cmd heading: 275.740910 deg,
      new cmd heading: 275.481539 deg.

2021-08-14T15:51:36.454Z,1628956296.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:36.810Z,1628956296.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:36.810Z,1628956296.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:36.810Z,1628956296.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:36.811Z,1628956296.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:37.217Z,1628956297.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31D,000,00F47,189,80,80,9B,FF
2021-08-14T15:51:37.217Z,1628956297.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:37.217Z,1628956297.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:37.219Z,1628956297.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:37.631Z,1628956297.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:38.458Z,1628956298.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00F1A,189,80,80,81,FF
2021-08-14T15:51:38.458Z,1628956298.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:38.463Z,1628956298.463 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155139.00*54

2021-08-14T15:51:38.873Z,1628956298.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.459991 m, bearing: 235.854191 deg, deltaT: 4.901920 s, approachRate: -0.550807 m/s, LOS rate: -0.335735 deg/s, posRepo size: 4
2021-08-14T15:51:38.875Z,1628956298.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.459991 m,
      bearing: 235.854191 deg,
      approachRate: -0.550807 m/s,
      LOS rate: -0.335735 deg/s,
      cmd update: -1.007206 deg/s,
      cmd heading: 280.384690 deg,
      new cmd heading: 280.706870 deg.

2021-08-14T15:51:41.290Z,1628956301.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:41.658Z,1628956301.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:41.658Z,1628956301.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:41.658Z,1628956301.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:41.659Z,1628956301.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:42.065Z,1628956302.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00F1A,189,80,80,81,FF
2021-08-14T15:51:42.065Z,1628956302.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:42.066Z,1628956302.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:42.072Z,1628956302.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:42.478Z,1628956302.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:43.314Z,1628956303.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,00EEB,189,80,80,9C,FF
2021-08-14T15:51:43.315Z,1628956303.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:43.319Z,1628956303.319 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155143.86*57

2021-08-14T15:51:43.711Z,1628956303.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.639984 m, bearing: 234.118039 deg, deltaT: 4.862860 s, approachRate: -0.579907 m/s, LOS rate: -0.357023 deg/s, posRepo size: 4
2021-08-14T15:51:43.714Z,1628956303.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.639984 m,
      bearing: 234.118039 deg,
      approachRate: -0.579907 m/s,
      LOS rate: -0.357023 deg/s,
      cmd update: -1.071069 deg/s,
      cmd heading: 275.494402 deg,
      new cmd heading: 275.169366 deg.

2021-08-14T15:51:46.212Z,1628956306.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:46.505Z,1628956306.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:46.505Z,1628956306.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:46.505Z,1628956306.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:46.506Z,1628956306.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:46.921Z,1628956306.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,00EEB,189,80,80,9C,FF
2021-08-14T15:51:46.922Z,1628956306.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:46.922Z,1628956306.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:46.924Z,1628956306.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:47.324Z,1628956307.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:48.165Z,1628956308.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,00EBF,189,80,80,AF,FF
2021-08-14T15:51:48.165Z,1628956308.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:48.185Z,1628956308.185 [Micromodem](INFO): Nmea in: $SNTTA,0.128095,,,,155148.71*4D

2021-08-14T15:51:48.570Z,1628956308.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.999985 m, bearing: 236.111307 deg, deltaT: 4.910432 s, approachRate: -0.537631 m/s, LOS rate: 0.405925 deg/s, posRepo size: 4
2021-08-14T15:51:48.572Z,1628956308.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.999985 m,
      bearing: 236.111307 deg,
      approachRate: -0.537631 m/s,
      LOS rate: 0.405925 deg/s,
      cmd update: 1.217775 deg/s,
      cmd heading: 270.230506 deg,
      new cmd heading: 269.944844 deg.

2021-08-14T15:51:51.019Z,1628956311.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:51.355Z,1628956311.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:51.357Z,1628956311.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:51.357Z,1628956311.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:51.359Z,1628956311.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:51.769Z,1628956311.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,00EBF,189,80,80,AF,FF
2021-08-14T15:51:51.769Z,1628956311.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:51.769Z,1628956311.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:51.771Z,1628956311.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:52.172Z,1628956312.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:53.013Z,1628956313.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,00E8F,188,80,80,AB,FF
2021-08-14T15:51:53.013Z,1628956313.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:53.036Z,1628956313.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155153.55*58

2021-08-14T15:51:53.408Z,1628956313.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 237.102750 deg, deltaT: 4.787432 s, approachRate: -0.601573 m/s, LOS rate: 0.207093 deg/s, posRepo size: 4
2021-08-14T15:51:53.410Z,1628956313.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.119995 m,
      bearing: 237.102750 deg,
      approachRate: -0.601573 m/s,
      LOS rate: 0.207093 deg/s,
      cmd update: 0.621279 deg/s,
      cmd heading: 276.060814 deg,
      new cmd heading: 276.447059 deg.

2021-08-14T15:51:55.823Z,1628956315.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:51:56.201Z,1628956316.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:51:56.201Z,1628956316.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:51:56.201Z,1628956316.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:51:56.202Z,1628956316.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:51:56.605Z,1628956316.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,00E8F,188,80,80,AB,FF
2021-08-14T15:51:56.606Z,1628956316.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:51:56.606Z,1628956316.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:51:56.607Z,1628956316.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:51:57.024Z,1628956317.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:51:57.837Z,1628956317.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00E61,18A,80,80,AC,FF
2021-08-14T15:51:57.838Z,1628956317.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:51:57.841Z,1628956317.841 [Micromodem](INFO): Nmea in: $SNTTA,0.124391,,,,155158.39*4B

2021-08-14T15:51:58.303Z,1628956318.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.360001 m, bearing: 233.988183 deg, deltaT: 4.791499 s, approachRate: -0.576019 m/s, LOS rate: -0.650019 deg/s, posRepo size: 4
2021-08-14T15:51:58.309Z,1628956318.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 233.988183 deg,
      approachRate: -0.576019 m/s,
      LOS rate: -0.650019 deg/s,
      cmd update: -1.950057 deg/s,
      cmd heading: 279.040154 deg,
      new cmd heading: 279.298728 deg.

2021-08-14T15:52:00.688Z,1628956320.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:01.053Z,1628956321.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:01.053Z,1628956321.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:01.053Z,1628956321.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:01.054Z,1628956321.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:01.453Z,1628956321.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00E61,18A,80,80,AC,FF
2021-08-14T15:52:01.453Z,1628956321.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:01.453Z,1628956321.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:01.455Z,1628956321.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:01.869Z,1628956321.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:02.262Z,1628956322.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00E61,18A,80,80,AC,FF
2021-08-14T15:52:02.262Z,1628956322.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:02.266Z,1628956322.266 [Micromodem](INFO): Nmea in: $SNTTA,0.256151,0.217158,,,155203.24*54

2021-08-14T15:52:02.712Z,1628956322.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.360001 m, bearing: 235.887987 deg, deltaT: 4.504929 s, approachRate: 0.000000 m/s, LOS rate: 0.421717 deg/s, posRepo size: 4
2021-08-14T15:52:02.714Z,1628956322.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 235.887987 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.421717 deg/s,
      cmd update: 1.265150 deg/s,
      cmd heading: 270.271162 deg,
      new cmd heading: 269.629936 deg.

2021-08-14T15:52:05.126Z,1628956325.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:05.493Z,1628956325.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:05.493Z,1628956325.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:05.493Z,1628956325.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:05.494Z,1628956325.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:05.897Z,1628956325.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00E61,18A,80,80,AC,FF
2021-08-14T15:52:05.897Z,1628956325.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:05.897Z,1628956325.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:05.899Z,1628956325.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:06.308Z,1628956326.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:06.710Z,1628956326.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00E61,18A,80,80,AC,FF
2021-08-14T15:52:06.710Z,1628956326.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:07.141Z,1628956327.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155207.68*54

2021-08-14T15:52:07.191Z,1628956327.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.360001 m, bearing: 235.285318 deg, deltaT: 4.342376 s, approachRate: 0.000000 m/s, LOS rate: -0.138788 deg/s, posRepo size: 4
2021-08-14T15:52:07.197Z,1628956327.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 235.285318 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.138788 deg/s,
      cmd update: -0.416363 deg/s,
      cmd heading: 275.772670 deg,
      new cmd heading: 276.353242 deg.

2021-08-14T15:52:08.766Z,1628956328.766 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T15:52:08.766Z,1628956328.766 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T15:52:08.766Z,1628956328.766 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T15:52:08.766Z,1628956328.766 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:52:08.767Z,1628956328.767 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T15:52:09.371Z,1628956329.371 [Micromodem](INFO): Outgoing frame #1, 59 bytes: B9BD17612A0000005D00000400260000000000000000151D80030C5669C08C79987226A3326367EE10F8A535467E36D0DE1F7BF37111088AA23B00
2021-08-14T15:52:09.371Z,1628956329.371 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T15:52:09.481Z,1628956329.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:09.646Z,1628956329.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:09.646Z,1628956329.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:09.646Z,1628956329.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:09.647Z,1628956329.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:09.655Z,1628956329.655 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T15:52:10.054Z,1628956330.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00E61,18A,80,80,AC,FF
2021-08-14T15:52:10.054Z,1628956330.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:10.054Z,1628956330.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:10.059Z,1628956330.059 [Micromodem](INFO): Nmea in: $CADRQ,155211,1,10,0,64,1*75

2021-08-14T15:52:10.062Z,1628956330.062 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17612A0000005D00000400260000000000000000151D80030C5669C08C79987226A3326367EE10F8A535467E36D0DE1F7BF37111088AA23B00*4C

2021-08-14T15:52:10.454Z,1628956330.454 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-14T15:52:10.454Z,1628956330.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:10.858Z,1628956330.858 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-14T15:52:10.858Z,1628956330.858 [Micromodem](ERROR): Response from modem unexpected: $CATXP,59*7E

2021-08-14T15:52:12.161Z,1628956332.161 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-14T15:52:12.161Z,1628956332.161 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-14T15:52:12.263Z,1628956332.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:12.519Z,1628956332.519 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,155211.863041,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*55

2021-08-14T15:52:12.519Z,1628956332.519 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,155211.863041,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*55

2021-08-14T15:52:14.198Z,1628956334.198 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T15:52:14.201Z,1628956334.201 [Micromodem](INFO): Sent 51 bytes from file Logs/20210814T125729/Courier0042.lzma.parts
2021-08-14T15:52:14.202Z,1628956334.202 [Micromodem](INFO): Packets left to send: 0
2021-08-14T15:52:14.554Z,1628956334.554 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814155214.921683,06,7204,38,0104,0150,89,01,01,00,01,1,010,001,0,4,1,0,150,8.1,3.67,11,-0.67,-01,-0.76,52,14500,4000*4A

2021-08-14T15:52:14.554Z,1628956334.554 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814155214.921683,06,7204,38,0104,0150,89,01,01,00,01,1,010,001,0,4,1,0,150,8.1,3.67,11,-0.67,-01,-0.76,52,14500,4000*4A

2021-08-14T15:52:14.782Z,1628956334.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:14.782Z,1628956334.782 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T15:52:14.783Z,1628956334.783 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T15:52:14.783Z,1628956334.783 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T15:52:14.783Z,1628956334.783 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T15:52:14.783Z,1628956334.783 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T15:52:15.969Z,1628956335.969 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.321248
2021-08-14T15:52:17.586Z,1628956337.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:17.977Z,1628956337.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:17.977Z,1628956337.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:17.977Z,1628956337.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:17.978Z,1628956337.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:18.381Z,1628956338.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00E61,18A,80,80,AC,FF
2021-08-14T15:52:18.381Z,1628956338.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:18.381Z,1628956338.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:20.109Z,1628956340.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:21.614Z,1628956341.614 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:22.033Z,1628956342.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:22.423Z,1628956342.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00D61,18A,80,80,AC,FF
2021-08-14T15:52:22.424Z,1628956342.424 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:22.857Z,1628956342.857 [Micromodem](INFO): Nmea in: $SNTTA,0.115343,,,,155223.40*47

2021-08-14T15:52:22.897Z,1628956342.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.000000 m, bearing: 234.318082 deg, deltaT: 15.758487 s, approachRate: -0.974713 m/s, LOS rate: -0.061379 deg/s, posRepo size: 4
2021-08-14T15:52:22.899Z,1628956342.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.000000 m,
      bearing: 234.318082 deg,
      approachRate: -0.974713 m/s,
      LOS rate: -0.061379 deg/s,
      cmd update: -0.184136 deg/s,
      cmd heading: 269.210854 deg,
      new cmd heading: 269.042177 deg.

2021-08-14T15:52:25.281Z,1628956345.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:25.666Z,1628956345.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:25.666Z,1628956345.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:25.666Z,1628956345.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:25.667Z,1628956345.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:26.065Z,1628956346.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00D61,18A,80,80,AC,FF
2021-08-14T15:52:26.065Z,1628956346.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:26.066Z,1628956346.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:26.097Z,1628956346.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:26.509Z,1628956346.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:26.919Z,1628956346.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:26.920Z,1628956346.920 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:27.362Z,1628956347.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.959991 m, bearing: 234.385017 deg, deltaT: 4.496771 s, approachRate: -0.453661 m/s, LOS rate: 0.014885 deg/s, posRepo size: 4
2021-08-14T15:52:27.364Z,1628956347.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.959991 m,
      bearing: 234.385017 deg,
      approachRate: -0.453661 m/s,
      LOS rate: 0.014885 deg/s,
      cmd update: 0.044656 deg/s,
      cmd heading: 268.384543 deg,
      new cmd heading: 268.314035 deg.

2021-08-14T15:52:29.766Z,1628956349.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:30.173Z,1628956350.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:30.173Z,1628956350.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:30.173Z,1628956350.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:30.174Z,1628956350.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:30.549Z,1628956350.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:30.549Z,1628956350.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:30.549Z,1628956350.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:30.551Z,1628956350.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:30.982Z,1628956350.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:31.354Z,1628956351.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:31.355Z,1628956351.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:31.777Z,1628956351.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155232.34*5B

2021-08-14T15:52:31.820Z,1628956351.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.959991 m, bearing: 234.169593 deg, deltaT: 4.412485 s, approachRate: 0.000000 m/s, LOS rate: -0.048822 deg/s, posRepo size: 4
2021-08-14T15:52:31.822Z,1628956351.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.959991 m,
      bearing: 234.169593 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.048822 deg/s,
      cmd update: -0.146465 deg/s,
      cmd heading: 268.580902 deg,
      new cmd heading: 268.600699 deg.

2021-08-14T15:52:34.246Z,1628956354.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:34.585Z,1628956354.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:34.585Z,1628956354.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:34.585Z,1628956354.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:34.586Z,1628956354.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:35.005Z,1628956355.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:35.005Z,1628956355.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:35.006Z,1628956355.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:35.007Z,1628956355.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:35.393Z,1628956355.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:35.790Z,1628956355.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:35.790Z,1628956355.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:36.221Z,1628956356.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155236.79*56

2021-08-14T15:52:36.278Z,1628956356.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.959991 m, bearing: 233.866524 deg, deltaT: 4.440388 s, approachRate: 0.000000 m/s, LOS rate: -0.068253 deg/s, posRepo size: 4
2021-08-14T15:52:36.281Z,1628956356.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.959991 m,
      bearing: 233.866524 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.068253 deg/s,
      cmd update: -0.204759 deg/s,
      cmd heading: 267.931098 deg,
      new cmd heading: 267.862930 deg.

2021-08-14T15:52:38.641Z,1628956358.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:39.037Z,1628956359.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:39.037Z,1628956359.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:39.037Z,1628956359.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:39.038Z,1628956359.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:39.449Z,1628956359.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:39.450Z,1628956359.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:39.450Z,1628956359.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:39.451Z,1628956359.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:39.832Z,1628956359.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:40.238Z,1628956360.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:40.238Z,1628956360.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:40.670Z,1628956360.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155241.23*59

2021-08-14T15:52:40.687Z,1628956360.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.959991 m, bearing: 230.167348 deg, deltaT: 4.491460 s, approachRate: 0.000000 m/s, LOS rate: -0.823602 deg/s, posRepo size: 4
2021-08-14T15:52:40.689Z,1628956360.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.959991 m,
      bearing: 230.167348 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.823602 deg/s,
      cmd update: -2.470806 deg/s,
      cmd heading: 267.007205 deg,
      new cmd heading: 266.933163 deg.

2021-08-14T15:52:43.117Z,1628956363.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:43.481Z,1628956363.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:43.481Z,1628956363.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:43.481Z,1628956363.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:43.482Z,1628956363.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:43.869Z,1628956363.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00D3F,189,80,80,AC,FF
2021-08-14T15:52:43.869Z,1628956363.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:43.869Z,1628956363.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:43.871Z,1628956363.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:44.292Z,1628956364.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:44.682Z,1628956364.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,279,000,00C89,189,80,80,AC,FF
2021-08-14T15:52:44.682Z,1628956364.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:45.126Z,1628956365.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155245.66*5C

2021-08-14T15:52:45.155Z,1628956365.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.040009 m, bearing: 231.132837 deg, deltaT: 4.389725 s, approachRate: -2.487623 m/s, LOS rate: 0.219943 deg/s, posRepo size: 4
2021-08-14T15:52:45.158Z,1628956365.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.040009 m,
      bearing: 231.132837 deg,
      approachRate: -2.487623 m/s,
      LOS rate: 0.219943 deg/s,
      cmd update: 0.659828 deg/s,
      cmd heading: 256.141088 deg,
      new cmd heading: 255.072005 deg.

2021-08-14T15:52:45.909Z,1628956365.909 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T15:52:47.553Z,1628956367.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:47.909Z,1628956367.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:47.909Z,1628956367.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:47.909Z,1628956367.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:47.910Z,1628956367.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:48.336Z,1628956368.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
279,000,00C89,189,80,80,AC,FF
2021-08-14T15:52:48.336Z,1628956368.336 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:48.337Z,1628956368.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:48.338Z,1628956368.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:48.777Z,1628956368.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:49.181Z,1628956369.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AF,000,00C58,186,80,80,96,FF
2021-08-14T15:52:49.182Z,1628956369.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:49.602Z,1628956369.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155250.12*5B

2021-08-14T15:52:49.624Z,1628956369.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.099991 m, bearing: 234.012089 deg, deltaT: 4.486355 s, approachRate: -0.655324 m/s, LOS rate: 0.641780 deg/s, posRepo size: 4
2021-08-14T15:52:49.626Z,1628956369.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.099991 m,
      bearing: 234.012089 deg,
      approachRate: -0.655324 m/s,
      LOS rate: 0.641780 deg/s,
      cmd update: 1.925340 deg/s,
      cmd heading: 259.101232 deg,
      new cmd heading: 259.374767 deg.

2021-08-14T15:52:52.076Z,1628956372.076 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T15:52:52.145Z,1628956372.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:52.425Z,1628956372.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:52.425Z,1628956372.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:52.425Z,1628956372.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:52.426Z,1628956372.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:52.817Z,1628956372.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AF,000,00C58,186,80,80,96,FF
2021-08-14T15:52:52.818Z,1628956372.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:52.818Z,1628956372.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:52.819Z,1628956372.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:53.243Z,1628956373.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:53.626Z,1628956373.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,00C27,187,80,80,A6,FF
2021-08-14T15:52:53.626Z,1628956373.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:54.082Z,1628956374.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155254.60*5A

2021-08-14T15:52:54.151Z,1628956374.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.160004 m, bearing: 230.096642 deg, deltaT: 4.473747 s, approachRate: -0.657164 m/s, LOS rate: -0.875205 deg/s, posRepo size: 4
2021-08-14T15:52:54.153Z,1628956374.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.160004 m,
      bearing: 230.096642 deg,
      approachRate: -0.657164 m/s,
      LOS rate: -0.875205 deg/s,
      cmd update: -2.625616 deg/s,
      cmd heading: 267.649616 deg,
      new cmd heading: 268.615665 deg.

2021-08-14T15:52:56.512Z,1628956376.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:52:56.853Z,1628956376.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:52:56.853Z,1628956376.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:52:56.854Z,1628956376.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:52:56.855Z,1628956376.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:52:57.262Z,1628956377.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,00C27,187,80,80,A6,FF
2021-08-14T15:52:57.262Z,1628956377.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:52:57.262Z,1628956377.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:52:57.265Z,1628956377.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:52:57.666Z,1628956377.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:52:58.105Z,1628956378.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,00BFA,189,80,80,A4,FF
2021-08-14T15:52:58.106Z,1628956378.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:52:58.513Z,1628956378.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155259.05*54

2021-08-14T15:52:58.536Z,1628956378.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.460007 m, bearing: 228.618944 deg, deltaT: 4.500273 s, approachRate: -0.599963 m/s, LOS rate: -0.328357 deg/s, posRepo size: 4
2021-08-14T15:52:58.538Z,1628956378.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.460007 m,
      bearing: 228.618944 deg,
      approachRate: -0.599963 m/s,
      LOS rate: -0.328357 deg/s,
      cmd update: -0.985072 deg/s,
      cmd heading: 255.743709 deg,
      new cmd heading: 254.819269 deg.

2021-08-14T15:53:00.911Z,1628956380.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:01.302Z,1628956381.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:01.302Z,1628956381.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:01.303Z,1628956381.303 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:01.303Z,1628956381.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:01.709Z,1628956381.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,00BFA,189,80,80,A4,FF
2021-08-14T15:53:01.709Z,1628956381.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:01.710Z,1628956381.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:01.711Z,1628956381.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:02.155Z,1628956382.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:02.521Z,1628956382.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,00BCD,186,80,80,90,FF
2021-08-14T15:53:02.522Z,1628956382.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:02.970Z,1628956382.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155303.49*52

2021-08-14T15:53:03.027Z,1628956383.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.759995 m, bearing: 230.865558 deg, deltaT: 4.395236 s, approachRate: -0.614304 m/s, LOS rate: 0.511147 deg/s, posRepo size: 4
2021-08-14T15:53:03.034Z,1628956383.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.759995 m,
      bearing: 230.865558 deg,
      approachRate: -0.614304 m/s,
      LOS rate: 0.511147 deg/s,
      cmd update: 1.533442 deg/s,
      cmd heading: 251.418017 deg,
      new cmd heading: 250.972162 deg.

2021-08-14T15:53:05.388Z,1628956385.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:05.749Z,1628956385.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:05.749Z,1628956385.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:05.749Z,1628956385.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:05.750Z,1628956385.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:06.175Z,1628956386.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,00BCD,186,80,80,90,FF
2021-08-14T15:53:06.175Z,1628956386.175 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:06.175Z,1628956386.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:06.179Z,1628956386.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:06.557Z,1628956386.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:06.965Z,1628956386.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,00BA2,186,80,80,90,FF
2021-08-14T15:53:06.966Z,1628956386.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:07.385Z,1628956387.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155307.96*54

2021-08-14T15:53:07.419Z,1628956387.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.180008 m, bearing: 232.905025 deg, deltaT: 4.486531 s, approachRate: -0.575052 m/s, LOS rate: 0.454576 deg/s, posRepo size: 4
2021-08-14T15:53:07.422Z,1628956387.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 232.905025 deg,
      approachRate: -0.575052 m/s,
      LOS rate: 0.454576 deg/s,
      cmd update: 1.363726 deg/s,
      cmd heading: 258.301098 deg,
      new cmd heading: 258.847250 deg.

2021-08-14T15:53:09.815Z,1628956389.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:10.189Z,1628956390.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:10.189Z,1628956390.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:10.189Z,1628956390.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:10.190Z,1628956390.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:10.593Z,1628956390.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,00BA2,186,80,80,90,FF
2021-08-14T15:53:10.593Z,1628956390.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:10.594Z,1628956390.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:10.595Z,1628956390.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:11.028Z,1628956391.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:11.401Z,1628956391.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00B6E,186,80,80,A9,FF
2021-08-14T15:53:11.401Z,1628956391.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:11.845Z,1628956391.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155312.38*54

2021-08-14T15:53:11.882Z,1628956391.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.059998 m, bearing: 229.463101 deg, deltaT: 4.353429 s, approachRate: -0.716679 m/s, LOS rate: -0.790624 deg/s, posRepo size: 4
2021-08-14T15:53:11.885Z,1628956391.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.059998 m,
      bearing: 229.463101 deg,
      approachRate: -0.716679 m/s,
      LOS rate: -0.790624 deg/s,
      cmd update: -2.371871 deg/s,
      cmd heading: 264.240304 deg,
      new cmd heading: 264.870050 deg.

2021-08-14T15:53:14.301Z,1628956394.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:14.638Z,1628956394.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:14.638Z,1628956394.638 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:14.638Z,1628956394.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:14.639Z,1628956394.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:15.033Z,1628956395.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00B6E,186,80,80,A9,FF
2021-08-14T15:53:15.033Z,1628956395.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:15.033Z,1628956395.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:15.035Z,1628956395.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:15.441Z,1628956395.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:15.849Z,1628956395.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00B3C,189,80,80,B0,FF
2021-08-14T15:53:15.850Z,1628956395.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:16.277Z,1628956396.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155316.82*51

2021-08-14T15:53:16.334Z,1628956396.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.059998 m, bearing: 226.723102 deg, deltaT: 4.467929 s, approachRate: -0.671452 m/s, LOS rate: -0.613259 deg/s, posRepo size: 4
2021-08-14T15:53:16.336Z,1628956396.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.059998 m,
      bearing: 226.723102 deg,
      approachRate: -0.671452 m/s,
      LOS rate: -0.613259 deg/s,
      cmd update: -1.839778 deg/s,
      cmd heading: 253.690228 deg,
      new cmd heading: 252.581182 deg.

2021-08-14T15:53:18.699Z,1628956398.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:19.073Z,1628956399.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:19.073Z,1628956399.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:19.073Z,1628956399.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:19.074Z,1628956399.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:19.509Z,1628956399.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00B3C,189,80,80,B0,FF
2021-08-14T15:53:19.509Z,1628956399.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:19.509Z,1628956399.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:19.511Z,1628956399.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:19.885Z,1628956399.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:20.300Z,1628956400.300 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00B0B,186,80,80,B2,FF
2021-08-14T15:53:20.301Z,1628956400.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:20.725Z,1628956400.725 [Micromodem](INFO): Nmea in: $SNTTA,0.227076,,,,155321.30*44

2021-08-14T15:53:20.761Z,1628956400.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.120010 m, bearing: 230.590274 deg, deltaT: 4.490202 s, approachRate: -0.654756 m/s, LOS rate: 0.861247 deg/s, posRepo size: 4
2021-08-14T15:53:20.763Z,1628956400.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.120010 m,
      bearing: 230.590274 deg,
      approachRate: -0.654756 m/s,
      LOS rate: 0.861247 deg/s,
      cmd update: 2.583740 deg/s,
      cmd heading: 245.407713 deg,
      new cmd heading: 244.693660 deg.

2021-08-14T15:53:23.170Z,1628956403.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:23.521Z,1628956403.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:23.521Z,1628956403.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:23.521Z,1628956403.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:23.522Z,1628956403.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:23.921Z,1628956403.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00B0B,186,80,80,B2,FF
2021-08-14T15:53:23.921Z,1628956403.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:23.921Z,1628956403.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:23.923Z,1628956403.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:24.332Z,1628956404.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:24.741Z,1628956404.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,00ADA,186,80,80,9E,FF
2021-08-14T15:53:24.742Z,1628956404.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:25.165Z,1628956405.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155325.71*5D

2021-08-14T15:53:25.211Z,1628956405.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.180008 m, bearing: 232.945405 deg, deltaT: 4.425614 s, approachRate: -0.664315 m/s, LOS rate: 0.532159 deg/s, posRepo size: 4
2021-08-14T15:53:25.213Z,1628956405.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.180008 m,
      bearing: 232.945405 deg,
      approachRate: -0.664315 m/s,
      LOS rate: 0.532159 deg/s,
      cmd update: 1.596478 deg/s,
      cmd heading: 256.863426 deg,
      new cmd heading: 257.920175 deg.

2021-08-14T15:53:27.575Z,1628956407.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:27.980Z,1628956407.980 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:27.980Z,1628956407.980 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:27.980Z,1628956407.980 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:27.981Z,1628956407.981 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:28.365Z,1628956408.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,00ADA,186,80,80,9E,FF
2021-08-14T15:53:28.365Z,1628956408.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:28.365Z,1628956408.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:28.367Z,1628956408.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:28.789Z,1628956408.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:29.181Z,1628956409.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,00AA4,186,80,80,A3,FF
2021-08-14T15:53:29.181Z,1628956409.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:29.614Z,1628956409.614 [Micromodem](INFO): Nmea in: $SNTTA,0.092792,,,,155330.15*42

2021-08-14T15:53:29.630Z,1628956409.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.940002 m, bearing: 229.308329 deg, deltaT: 4.443773 s, approachRate: -0.729111 m/s, LOS rate: -0.818466 deg/s, posRepo size: 4
2021-08-14T15:53:29.632Z,1628956409.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.940002 m,
      bearing: 229.308329 deg,
      approachRate: -0.729111 m/s,
      LOS rate: -0.818466 deg/s,
      cmd update: -2.455397 deg/s,
      cmd heading: 263.938933 deg,
      new cmd heading: 264.570860 deg.

2021-08-14T15:53:32.128Z,1628956412.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:32.413Z,1628956412.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:32.414Z,1628956412.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:32.414Z,1628956412.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:32.415Z,1628956412.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:32.813Z,1628956412.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,00AA4,186,80,80,A3,FF
2021-08-14T15:53:32.813Z,1628956412.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:32.813Z,1628956412.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:32.815Z,1628956412.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:33.221Z,1628956413.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:33.621Z,1628956413.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00A7B,188,80,80,9E,FF
2021-08-14T15:53:33.622Z,1628956413.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:34.074Z,1628956414.074 [Micromodem](INFO): Nmea in: $SNTTA,0.085530,,,,155334.60*48

2021-08-14T15:53:34.153Z,1628956414.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.480003 m, bearing: 224.247596 deg, deltaT: 4.453156 s, approachRate: -0.552417 m/s, LOS rate: -1.136437 deg/s, posRepo size: 4
2021-08-14T15:53:34.155Z,1628956414.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.480003 m,
      bearing: 224.247596 deg,
      approachRate: -0.552417 m/s,
      LOS rate: -1.136437 deg/s,
      cmd update: -3.409312 deg/s,
      cmd heading: 252.994892 deg,
      new cmd heading: 251.862229 deg.

2021-08-14T15:53:36.488Z,1628956416.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:36.849Z,1628956416.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:36.849Z,1628956416.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:36.849Z,1628956416.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:36.850Z,1628956416.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:37.265Z,1628956417.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00A7B,188,80,80,9E,FF
2021-08-14T15:53:37.265Z,1628956417.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:37.265Z,1628956417.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:37.267Z,1628956417.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:37.675Z,1628956417.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:38.109Z,1628956418.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,00A4D,186,80,80,B4,FF
2021-08-14T15:53:38.110Z,1628956418.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:38.498Z,1628956418.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155339.05*53

2021-08-14T15:53:38.519Z,1628956418.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.720001 m, bearing: 227.819034 deg, deltaT: 4.503001 s, approachRate: -0.612925 m/s, LOS rate: 0.793124 deg/s, posRepo size: 4
2021-08-14T15:53:38.522Z,1628956418.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.720001 m,
      bearing: 227.819034 deg,
      approachRate: -0.612925 m/s,
      LOS rate: 0.793124 deg/s,
      cmd update: 2.379372 deg/s,
      cmd heading: 237.628678 deg,
      new cmd heading: 236.534051 deg.

2021-08-14T15:53:40.933Z,1628956420.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:41.293Z,1628956421.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:41.293Z,1628956421.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:41.293Z,1628956421.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:41.294Z,1628956421.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:41.713Z,1628956421.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,00A4D,186,80,80,B4,FF
2021-08-14T15:53:41.713Z,1628956421.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:41.713Z,1628956421.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:41.715Z,1628956421.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:42.145Z,1628956422.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:42.517Z,1628956422.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00A1B,184,80,80,90,FF
2021-08-14T15:53:42.517Z,1628956422.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:42.944Z,1628956422.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155343.50*5E

2021-08-14T15:53:43.009Z,1628956423.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.719994 m, bearing: 232.190751 deg, deltaT: 4.332394 s, approachRate: -0.692460 m/s, LOS rate: 1.009077 deg/s, posRepo size: 4
2021-08-14T15:53:43.011Z,1628956423.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.719994 m,
      bearing: 232.190751 deg,
      approachRate: -0.692460 m/s,
      LOS rate: 1.009077 deg/s,
      cmd update: 3.027230 deg/s,
      cmd heading: 247.946518 deg,
      new cmd heading: 249.064104 deg.

2021-08-14T15:53:45.377Z,1628956425.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:45.749Z,1628956425.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:45.749Z,1628956425.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:45.749Z,1628956425.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:45.750Z,1628956425.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:46.161Z,1628956426.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00A1B,184,80,80,90,FF
2021-08-14T15:53:46.161Z,1628956426.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:46.161Z,1628956426.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:46.163Z,1628956426.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:46.561Z,1628956426.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:46.981Z,1628956426.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,009E9,186,80,80,A4,FF
2021-08-14T15:53:46.981Z,1628956426.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:47.373Z,1628956427.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155347.95*53

2021-08-14T15:53:47.408Z,1628956427.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.720001 m, bearing: 230.214258 deg, deltaT: 4.473588 s, approachRate: -0.670601 m/s, LOS rate: -0.441814 deg/s, posRepo size: 4
2021-08-14T15:53:47.410Z,1628956427.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.720001 m,
      bearing: 230.214258 deg,
      approachRate: -0.670601 m/s,
      LOS rate: -0.441814 deg/s,
      cmd update: -1.325441 deg/s,
      cmd heading: 261.488828 deg,
      new cmd heading: 262.698245 deg.

2021-08-14T15:53:49.816Z,1628956429.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:50.193Z,1628956430.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:50.193Z,1628956430.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:50.193Z,1628956430.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:50.194Z,1628956430.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:50.585Z,1628956430.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,009E9,186,80,80,A4,FF
2021-08-14T15:53:50.585Z,1628956430.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:50.585Z,1628956430.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:50.587Z,1628956430.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:51.020Z,1628956431.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:51.405Z,1628956431.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,009C3,189,80,80,AA,FF
2021-08-14T15:53:51.405Z,1628956431.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:51.853Z,1628956431.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155352.37*5F

2021-08-14T15:53:51.876Z,1628956431.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.440002 m, bearing: 223.693162 deg, deltaT: 4.441888 s, approachRate: -0.513295 m/s, LOS rate: -1.468091 deg/s, posRepo size: 4
2021-08-14T15:53:51.878Z,1628956431.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 223.693162 deg,
      approachRate: -0.513295 m/s,
      LOS rate: -1.468091 deg/s,
      cmd update: -4.404273 deg/s,
      cmd heading: 255.611878 deg,
      new cmd heading: 255.037437 deg.

2021-08-14T15:53:54.291Z,1628956434.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:54.625Z,1628956434.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:54.625Z,1628956434.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:54.625Z,1628956434.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:54.626Z,1628956434.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:55.043Z,1628956435.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,009C3,189,80,80,AA,FF
2021-08-14T15:53:55.043Z,1628956435.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:55.044Z,1628956435.044 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:55.047Z,1628956435.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:55.437Z,1628956435.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:53:55.858Z,1628956435.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,00994,188,80,80,A3,FF
2021-08-14T15:53:55.859Z,1628956435.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:53:56.265Z,1628956436.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155356.83*54

2021-08-14T15:53:56.323Z,1628956436.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 224.006531 deg, deltaT: 4.452560 s, approachRate: -0.633343 m/s, LOS rate: 0.070380 deg/s, posRepo size: 4
2021-08-14T15:53:56.325Z,1628956436.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.620003 m,
      bearing: 224.006531 deg,
      approachRate: -0.633343 m/s,
      LOS rate: 0.070380 deg/s,
      cmd update: 0.211139 deg/s,
      cmd heading: 235.967244 deg,
      new cmd heading: 234.115833 deg.

2021-08-14T15:53:58.701Z,1628956438.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:53:59.065Z,1628956439.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:53:59.066Z,1628956439.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:53:59.066Z,1628956439.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:53:59.067Z,1628956439.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:53:59.469Z,1628956439.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,00994,188,80,80,A3,FF
2021-08-14T15:53:59.469Z,1628956439.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:53:59.470Z,1628956439.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:53:59.471Z,1628956439.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:53:59.902Z,1628956439.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:00.289Z,1628956440.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,00966,185,80,80,AC,FF
2021-08-14T15:54:00.289Z,1628956440.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:00.774Z,1628956440.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155401.26*5E

2021-08-14T15:54:00.795Z,1628956440.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 230.692918 deg, deltaT: 4.476952 s, approachRate: -0.616491 m/s, LOS rate: 1.493513 deg/s, posRepo size: 4
2021-08-14T15:54:00.802Z,1628956440.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.860001 m,
      bearing: 230.692918 deg,
      approachRate: -0.616491 m/s,
      LOS rate: 1.493513 deg/s,
      cmd update: 4.480539 deg/s,
      cmd heading: 236.911696 deg,
      new cmd heading: 237.000296 deg.

2021-08-14T15:54:03.183Z,1628956443.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:03.513Z,1628956443.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:03.513Z,1628956443.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:03.513Z,1628956443.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:03.514Z,1628956443.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:03.925Z,1628956443.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,00966,185,80,80,AC,FF
2021-08-14T15:54:03.925Z,1628956443.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:03.925Z,1628956443.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:03.931Z,1628956443.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:04.324Z,1628956444.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:04.734Z,1628956444.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00936,184,80,80,AF,FF
2021-08-14T15:54:04.734Z,1628956444.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:05.169Z,1628956445.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155405.71*58

2021-08-14T15:54:05.233Z,1628956445.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 229.499192 deg, deltaT: 4.378150 s, approachRate: -0.657811 m/s, LOS rate: -0.272655 deg/s, posRepo size: 4
2021-08-14T15:54:05.235Z,1628956445.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.980003 m,
      bearing: 229.499192 deg,
      approachRate: -0.657811 m/s,
      LOS rate: -0.272655 deg/s,
      cmd update: -0.817966 deg/s,
      cmd heading: 256.529477 deg,
      new cmd heading: 258.674920 deg.

2021-08-14T15:54:07.570Z,1628956447.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:07.964Z,1628956447.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:07.965Z,1628956447.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:07.965Z,1628956447.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:07.967Z,1628956447.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:08.369Z,1628956448.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00936,184,80,80,AF,FF
2021-08-14T15:54:08.369Z,1628956448.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:08.369Z,1628956448.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:08.371Z,1628956448.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:08.773Z,1628956448.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:09.169Z,1628956449.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00905,186,80,80,9C,FF
2021-08-14T15:54:09.169Z,1628956449.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:09.617Z,1628956449.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155410.15*5E

2021-08-14T15:54:09.685Z,1628956449.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.040001 m, bearing: 228.378809 deg, deltaT: 4.480586 s, approachRate: -0.656165 m/s, LOS rate: -0.250053 deg/s, posRepo size: 4
2021-08-14T15:54:09.687Z,1628956449.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.040001 m,
      bearing: 228.378809 deg,
      approachRate: -0.656165 m/s,
      LOS rate: -0.250053 deg/s,
      cmd update: -0.750159 deg/s,
      cmd heading: 252.864710 deg,
      new cmd heading: 252.500897 deg.

2021-08-14T15:54:12.147Z,1628956452.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:12.429Z,1628956452.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:12.429Z,1628956452.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:12.429Z,1628956452.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:12.430Z,1628956452.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:12.829Z,1628956452.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,00905,186,80,80,9C,FF
2021-08-14T15:54:12.829Z,1628956452.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:12.829Z,1628956452.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:12.831Z,1628956452.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:13.233Z,1628956453.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:13.650Z,1628956453.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,008D9,188,80,80,9B,FF
2021-08-14T15:54:13.650Z,1628956453.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:14.088Z,1628956454.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155414.62*5A

2021-08-14T15:54:14.147Z,1628956454.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.400002 m, bearing: 223.284266 deg, deltaT: 4.486631 s, approachRate: -0.588415 m/s, LOS rate: -1.135494 deg/s, posRepo size: 4
2021-08-14T15:54:14.149Z,1628956454.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.400002 m,
      bearing: 223.284266 deg,
      approachRate: -0.588415 m/s,
      LOS rate: -1.135494 deg/s,
      cmd update: -3.406482 deg/s,
      cmd heading: 249.511014 deg,
      new cmd heading: 249.179422 deg.

2021-08-14T15:54:16.517Z,1628956456.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:16.865Z,1628956456.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:16.865Z,1628956456.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:16.865Z,1628956456.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:16.866Z,1628956456.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:17.277Z,1628956457.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,008D9,188,80,80,9B,FF
2021-08-14T15:54:17.277Z,1628956457.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:17.277Z,1628956457.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:17.279Z,1628956457.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:17.688Z,1628956457.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:18.092Z,1628956458.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,008A1,186,80,80,A2,FF
2021-08-14T15:54:18.094Z,1628956458.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:18.513Z,1628956458.513 [Micromodem](INFO): Nmea in: $SNTTA,0.303315,,,,155419.06*4C

2021-08-14T15:54:18.556Z,1628956458.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.040001 m, bearing: 225.980524 deg, deltaT: 4.477616 s, approachRate: -0.750399 m/s, LOS rate: 0.602164 deg/s, posRepo size: 4
2021-08-14T15:54:18.564Z,1628956458.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.040001 m,
      bearing: 225.980524 deg,
      approachRate: -0.750399 m/s,
      LOS rate: 0.602164 deg/s,
      cmd update: 1.806491 deg/s,
      cmd heading: 234.203845 deg,
      new cmd heading: 233.056030 deg.

2021-08-14T15:54:20.962Z,1628956460.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:21.309Z,1628956461.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:21.309Z,1628956461.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:21.309Z,1628956461.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:21.310Z,1628956461.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:21.725Z,1628956461.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,008A1,186,80,80,A2,FF
2021-08-14T15:54:21.725Z,1628956461.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:21.725Z,1628956461.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:21.727Z,1628956461.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:22.157Z,1628956462.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:22.529Z,1628956462.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,0086D,184,80,80,A7,FF
2021-08-14T15:54:22.530Z,1628956462.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:22.989Z,1628956462.989 [Micromodem](INFO): Nmea in: $SNTTA,0.072022,,,,155423.51*45

2021-08-14T15:54:23.015Z,1628956463.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.920006 m, bearing: 228.497435 deg, deltaT: 4.343918 s, approachRate: -0.718244 m/s, LOS rate: 0.579410 deg/s, posRepo size: 4
2021-08-14T15:54:23.017Z,1628956463.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.920006 m,
      bearing: 228.497435 deg,
      approachRate: -0.718244 m/s,
      LOS rate: 0.579410 deg/s,
      cmd update: 1.738231 deg/s,
      cmd heading: 242.058386 deg,
      new cmd heading: 242.904942 deg.

2021-08-14T15:54:24.193Z,1628956464.193 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T15:54:25.383Z,1628956465.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:25.753Z,1628956465.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:25.753Z,1628956465.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:25.753Z,1628956465.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:25.754Z,1628956465.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:26.173Z,1628956466.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,0086D,184,80,80,A7,FF
2021-08-14T15:54:26.173Z,1628956466.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:26.173Z,1628956466.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:26.175Z,1628956466.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:26.578Z,1628956466.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:26.994Z,1628956466.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0083A,186,80,80,A4,FF
2021-08-14T15:54:26.994Z,1628956466.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:27.405Z,1628956467.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155427.96*51

2021-08-14T15:54:27.428Z,1628956467.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.860001 m, bearing: 227.600536 deg, deltaT: 4.474830 s, approachRate: -0.683826 m/s, LOS rate: -0.200432 deg/s, posRepo size: 4
2021-08-14T15:54:27.430Z,1628956467.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.860001 m,
      bearing: 227.600536 deg,
      approachRate: -0.683826 m/s,
      LOS rate: -0.200432 deg/s,
      cmd update: -0.601296 deg/s,
      cmd heading: 249.836631 deg,
      new cmd heading: 250.542559 deg.

2021-08-14T15:54:29.811Z,1628956469.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:30.205Z,1628956470.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:30.205Z,1628956470.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:30.205Z,1628956470.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:30.206Z,1628956470.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:30.597Z,1628956470.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0083A,186,80,80,A4,FF
2021-08-14T15:54:30.597Z,1628956470.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:30.597Z,1628956470.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:30.599Z,1628956470.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:31.024Z,1628956471.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:31.409Z,1628956471.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,186,000,00809,186,80,80,8B,FF
2021-08-14T15:54:31.410Z,1628956471.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:31.853Z,1628956471.853 [Micromodem](INFO): Nmea in: $SNTTA,0.067376,,,,155432.38*4C

2021-08-14T15:54:31.876Z,1628956471.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 225.912181 deg, deltaT: 4.428804 s, approachRate: -0.663835 m/s, LOS rate: -0.381221 deg/s, posRepo size: 4
2021-08-14T15:54:31.878Z,1628956471.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.920006 m,
      bearing: 225.912181 deg,
      approachRate: -0.663835 m/s,
      LOS rate: -0.381221 deg/s,
      cmd update: -1.143664 deg/s,
      cmd heading: 247.173615 deg,
      new cmd heading: 246.917783 deg.

2021-08-14T15:54:34.309Z,1628956474.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:34.642Z,1628956474.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:34.642Z,1628956474.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:34.642Z,1628956474.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:34.643Z,1628956474.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:35.045Z,1628956475.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
186,000,00809,186,80,80,8B,FF
2021-08-14T15:54:35.045Z,1628956475.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:35.045Z,1628956475.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:35.047Z,1628956475.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:35.461Z,1628956475.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:35.853Z,1628956475.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,007D7,186,80,80,A0,FF
2021-08-14T15:54:35.853Z,1628956475.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:36.298Z,1628956476.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155436.83*55

2021-08-14T15:54:36.365Z,1628956476.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 224.642572 deg, deltaT: 4.448116 s, approachRate: -0.674445 m/s, LOS rate: -0.285426 deg/s, posRepo size: 4
2021-08-14T15:54:36.367Z,1628956476.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.919998 m,
      bearing: 224.642572 deg,
      approachRate: -0.674445 m/s,
      LOS rate: -0.285426 deg/s,
      cmd update: -0.856279 deg/s,
      cmd heading: 242.086504 deg,
      new cmd heading: 241.552846 deg.

2021-08-14T15:54:38.707Z,1628956478.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:39.089Z,1628956479.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:39.089Z,1628956479.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:39.089Z,1628956479.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:39.090Z,1628956479.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:39.500Z,1628956479.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,007D7,186,80,80,A0,FF
2021-08-14T15:54:39.500Z,1628956479.500 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:39.501Z,1628956479.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:39.502Z,1628956479.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:39.897Z,1628956479.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:40.293Z,1628956480.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,007A7,185,80,80,AC,FF
2021-08-14T15:54:40.294Z,1628956480.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:40.737Z,1628956480.737 [Micromodem](INFO): Nmea in: $SNTTA,0.069131,,,,155441.29*47

2021-08-14T15:54:40.765Z,1628956480.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 226.144845 deg, deltaT: 4.483700 s, approachRate: -0.642326 m/s, LOS rate: 0.335052 deg/s, posRepo size: 4
2021-08-14T15:54:40.767Z,1628956480.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.040001 m,
      bearing: 226.144845 deg,
      approachRate: -0.642326 m/s,
      LOS rate: 0.335052 deg/s,
      cmd update: 1.005156 deg/s,
      cmd heading: 238.247171 deg,
      new cmd heading: 237.919851 deg.

2021-08-14T15:54:43.166Z,1628956483.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:43.529Z,1628956483.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:43.529Z,1628956483.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:43.529Z,1628956483.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:43.530Z,1628956483.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:43.940Z,1628956483.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,007A7,185,80,80,AC,FF
2021-08-14T15:54:43.941Z,1628956483.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:43.942Z,1628956483.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:43.949Z,1628956483.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:44.376Z,1628956484.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:44.765Z,1628956484.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,0077C,186,80,80,A3,FF
2021-08-14T15:54:44.766Z,1628956484.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:45.201Z,1628956485.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155445.73*5E

2021-08-14T15:54:45.238Z,1628956485.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.460007 m, bearing: 226.114150 deg, deltaT: 4.400401 s, approachRate: -0.586309 m/s, LOS rate: -0.006975 deg/s, posRepo size: 4
2021-08-14T15:54:45.240Z,1628956485.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.460007 m,
      bearing: 226.114150 deg,
      approachRate: -0.586309 m/s,
      LOS rate: -0.006975 deg/s,
      cmd update: -0.020926 deg/s,
      cmd heading: 242.670280 deg,
      new cmd heading: 243.127737 deg.

2021-08-14T15:54:47.611Z,1628956487.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:48.025Z,1628956488.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:48.025Z,1628956488.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:48.025Z,1628956488.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:48.026Z,1628956488.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:48.401Z,1628956488.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,0077C,186,80,80,A3,FF
2021-08-14T15:54:48.401Z,1628956488.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:48.401Z,1628956488.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:48.403Z,1628956488.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:48.813Z,1628956488.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:49.209Z,1628956489.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00748,186,80,80,A4,FF
2021-08-14T15:54:49.209Z,1628956489.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:49.662Z,1628956489.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155450.19*56

2021-08-14T15:54:49.683Z,1628956489.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.340004 m, bearing: 225.803322 deg, deltaT: 4.494871 s, approachRate: -0.694125 m/s, LOS rate: -0.069152 deg/s, posRepo size: 4
2021-08-14T15:54:49.686Z,1628956489.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.340004 m,
      bearing: 225.803322 deg,
      approachRate: -0.694125 m/s,
      LOS rate: -0.069152 deg/s,
      cmd update: -0.207455 deg/s,
      cmd heading: 242.576302 deg,
      new cmd heading: 242.567720 deg.

2021-08-14T15:54:52.134Z,1628956492.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:52.441Z,1628956492.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:52.441Z,1628956492.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:52.441Z,1628956492.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:52.442Z,1628956492.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:52.849Z,1628956492.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00748,186,80,80,A4,FF
2021-08-14T15:54:52.850Z,1628956492.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:52.850Z,1628956492.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:52.851Z,1628956492.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:53.249Z,1628956493.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:53.662Z,1628956493.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00715,186,80,80,9A,FF
2021-08-14T15:54:53.662Z,1628956493.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:54.133Z,1628956494.133 [Micromodem](INFO): Nmea in: $SNTTA,0.118240,,,,155454.64*48

2021-08-14T15:54:54.196Z,1628956494.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 225.445843 deg, deltaT: 4.404713 s, approachRate: -0.694710 m/s, LOS rate: -0.081158 deg/s, posRepo size: 4
2021-08-14T15:54:54.199Z,1628956494.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.280006 m,
      bearing: 225.445843 deg,
      approachRate: -0.694710 m/s,
      LOS rate: -0.081158 deg/s,
      cmd update: -0.243474 deg/s,
      cmd heading: 241.661693 deg,
      new cmd heading: 241.555021 deg.

2021-08-14T15:54:56.194Z,1628956496.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:54:56.489Z,1628956496.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:54:56.489Z,1628956496.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:54:56.489Z,1628956496.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:54:56.490Z,1628956496.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:54:56.893Z,1628956496.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00715,186,80,80,9A,FF
2021-08-14T15:54:56.893Z,1628956496.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:54:56.893Z,1628956496.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:54:56.895Z,1628956496.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:54:57.292Z,1628956497.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:54:57.709Z,1628956497.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,006E9,186,80,80,A8,FF
2021-08-14T15:54:57.709Z,1628956497.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:54:58.169Z,1628956498.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155458.68*58

2021-08-14T15:54:58.237Z,1628956498.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.639999 m, bearing: 225.367050 deg, deltaT: 4.064516 s, approachRate: -0.649526 m/s, LOS rate: -0.019386 deg/s, posRepo size: 4
2021-08-14T15:54:58.239Z,1628956498.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.639999 m,
      bearing: 225.367050 deg,
      approachRate: -0.649526 m/s,
      LOS rate: -0.019386 deg/s,
      cmd update: -0.058157 deg/s,
      cmd heading: 240.672091 deg,
      new cmd heading: 240.552754 deg.

2021-08-14T15:55:00.590Z,1628956500.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:00.932Z,1628956500.932 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:00.932Z,1628956500.932 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:00.933Z,1628956500.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:00.934Z,1628956500.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:01.337Z,1628956501.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,006E9,186,80,80,A8,FF
2021-08-14T15:55:01.338Z,1628956501.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:01.338Z,1628956501.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:01.339Z,1628956501.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:01.736Z,1628956501.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:02.169Z,1628956502.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,006BB,186,80,80,B1,FF
2021-08-14T15:55:02.169Z,1628956502.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:02.581Z,1628956502.581 [Micromodem](INFO): Nmea in: $SNTTA,,0.050233,,,155503.12*43

2021-08-14T15:55:02.611Z,1628956502.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.880005 m, bearing: 225.352994 deg, deltaT: 4.506878 s, approachRate: -0.612396 m/s, LOS rate: -0.003119 deg/s, posRepo size: 4
2021-08-14T15:55:02.613Z,1628956502.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.880005 m,
      bearing: 225.352994 deg,
      approachRate: -0.612396 m/s,
      LOS rate: -0.003119 deg/s,
      cmd update: -0.009357 deg/s,
      cmd heading: 240.410121 deg,
      new cmd heading: 240.389183 deg.

2021-08-14T15:55:05.022Z,1628956505.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:05.377Z,1628956505.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:05.378Z,1628956505.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:05.378Z,1628956505.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:05.379Z,1628956505.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:05.773Z,1628956505.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,006BB,186,80,80,B1,FF
2021-08-14T15:55:05.773Z,1628956505.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:05.773Z,1628956505.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:05.775Z,1628956505.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:06.198Z,1628956506.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:06.585Z,1628956506.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00689,186,80,80,8E,FF
2021-08-14T15:55:06.585Z,1628956506.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:07.038Z,1628956507.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155507.56*5E

2021-08-14T15:55:07.067Z,1628956507.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.879997 m, bearing: 225.383279 deg, deltaT: 4.349009 s, approachRate: -0.689814 m/s, LOS rate: 0.006964 deg/s, posRepo size: 4
2021-08-14T15:55:07.070Z,1628956507.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.879997 m,
      bearing: 225.383279 deg,
      approachRate: -0.689814 m/s,
      LOS rate: 0.006964 deg/s,
      cmd update: 0.020891 deg/s,
      cmd heading: 240.369407 deg,
      new cmd heading: 240.365056 deg.

2021-08-14T15:55:09.443Z,1628956509.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:09.817Z,1628956509.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:09.817Z,1628956509.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:09.817Z,1628956509.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:09.818Z,1628956509.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:10.213Z,1628956510.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00689,186,80,80,8E,FF
2021-08-14T15:55:10.213Z,1628956510.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:10.214Z,1628956510.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:10.215Z,1628956510.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:10.625Z,1628956510.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:11.045Z,1628956511.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,00654,185,80,80,B3,FF
2021-08-14T15:55:11.045Z,1628956511.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:11.472Z,1628956511.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155512.00*59

2021-08-14T15:55:11.492Z,1628956511.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 224.431383 deg, deltaT: 4.493624 s, approachRate: -0.707668 m/s, LOS rate: -0.211833 deg/s, posRepo size: 4
2021-08-14T15:55:11.494Z,1628956511.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.700005 m,
      bearing: 224.431383 deg,
      approachRate: -0.707668 m/s,
      LOS rate: -0.211833 deg/s,
      cmd update: -0.635498 deg/s,
      cmd heading: 240.463201 deg,
      new cmd heading: 240.471545 deg.

2021-08-14T15:55:13.900Z,1628956513.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:14.257Z,1628956514.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:14.257Z,1628956514.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:14.257Z,1628956514.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:14.258Z,1628956514.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:14.673Z,1628956514.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,00654,185,80,80,B3,FF
2021-08-14T15:55:14.673Z,1628956514.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:14.673Z,1628956514.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:14.675Z,1628956514.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:15.079Z,1628956515.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:15.481Z,1628956515.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D0,000,00624,187,80,80,8A,FF
2021-08-14T15:55:15.481Z,1628956515.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:15.906Z,1628956515.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155516.46*5F

2021-08-14T15:55:15.938Z,1628956515.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.820004 m, bearing: 225.766029 deg, deltaT: 4.444740 s, approachRate: -0.647957 m/s, LOS rate: 0.300275 deg/s, posRepo size: 4
2021-08-14T15:55:15.940Z,1628956515.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.820004 m,
      bearing: 225.766029 deg,
      approachRate: -0.647957 m/s,
      LOS rate: 0.300275 deg/s,
      cmd update: 0.900826 deg/s,
      cmd heading: 237.641444 deg,
      new cmd heading: 237.383801 deg.

2021-08-14T15:55:18.359Z,1628956518.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:18.717Z,1628956518.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:18.717Z,1628956518.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:18.717Z,1628956518.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:18.718Z,1628956518.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:19.109Z,1628956519.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D0,000,00624,187,80,80,8A,FF
2021-08-14T15:55:19.109Z,1628956519.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:19.109Z,1628956519.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:19.110Z,1628956519.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:19.521Z,1628956519.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:19.917Z,1628956519.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,005F6,185,80,80,A8,FF
2021-08-14T15:55:19.917Z,1628956519.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:20.354Z,1628956520.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155520.89*59

2021-08-14T15:55:20.401Z,1628956520.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.060001 m, bearing: 224.975694 deg, deltaT: 4.428010 s, approachRate: -0.623305 m/s, LOS rate: -0.178485 deg/s, posRepo size: 4
2021-08-14T15:55:20.403Z,1628956520.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.060001 m,
      bearing: 224.975694 deg,
      approachRate: -0.623305 m/s,
      LOS rate: -0.178485 deg/s,
      cmd update: -0.535456 deg/s,
      cmd heading: 241.616041 deg,
      new cmd heading: 242.027137 deg.

2021-08-14T15:55:22.791Z,1628956522.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:23.153Z,1628956523.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:23.153Z,1628956523.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:23.153Z,1628956523.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:23.154Z,1628956523.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:23.566Z,1628956523.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,005F6,185,80,80,A8,FF
2021-08-14T15:55:23.566Z,1628956523.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:23.566Z,1628956523.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:23.570Z,1628956523.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:23.957Z,1628956523.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:24.359Z,1628956524.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,005C4,186,80,80,B8,FF
2021-08-14T15:55:24.359Z,1628956524.359 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:24.781Z,1628956524.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155525.36*58

2021-08-14T15:55:24.826Z,1628956524.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 223.445841 deg, deltaT: 4.454253 s, approachRate: -0.673515 m/s, LOS rate: -0.343459 deg/s, posRepo size: 4
2021-08-14T15:55:24.828Z,1628956524.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 223.445841 deg,
      approachRate: -0.673515 m/s,
      LOS rate: -0.343459 deg/s,
      cmd update: -1.030377 deg/s,
      cmd heading: 239.217979 deg,
      new cmd heading: 239.002323 deg.

2021-08-14T15:55:27.207Z,1628956527.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:27.602Z,1628956527.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:27.602Z,1628956527.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:27.603Z,1628956527.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:27.604Z,1628956527.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:28.001Z,1628956528.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,005C4,186,80,80,B8,FF
2021-08-14T15:55:28.002Z,1628956528.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:28.002Z,1628956528.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:28.003Z,1628956528.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:28.411Z,1628956528.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:28.797Z,1628956528.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00595,186,80,80,A7,FF
2021-08-14T15:55:28.798Z,1628956528.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:29.265Z,1628956529.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155529.79*5F

2021-08-14T15:55:29.301Z,1628956529.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.239998 m, bearing: 223.836132 deg, deltaT: 4.419094 s, approachRate: -0.638139 m/s, LOS rate: 0.088319 deg/s, posRepo size: 4
2021-08-14T15:55:29.303Z,1628956529.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.239998 m,
      bearing: 223.836132 deg,
      approachRate: -0.638139 m/s,
      LOS rate: 0.088319 deg/s,
      cmd update: 0.264957 deg/s,
      cmd heading: 234.664637 deg,
      new cmd heading: 234.192090 deg.

2021-08-14T15:55:31.689Z,1628956531.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:32.036Z,1628956532.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:32.037Z,1628956532.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:32.037Z,1628956532.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:32.038Z,1628956532.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:32.443Z,1628956532.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00595,186,80,80,A7,FF
2021-08-14T15:55:32.443Z,1628956532.443 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:32.444Z,1628956532.444 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:32.449Z,1628956532.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:32.849Z,1628956532.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:33.266Z,1628956533.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00560,186,80,80,9B,FF
2021-08-14T15:55:33.266Z,1628956533.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:33.686Z,1628956533.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 224.452584 deg, deltaT: 4.454838 s, approachRate: -0.713831 m/s, LOS rate: 0.138378 deg/s, posRepo size: 4
2021-08-14T15:55:33.688Z,1628956533.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 224.452584 deg,
      approachRate: -0.713831 m/s,
      LOS rate: 0.138378 deg/s,
      cmd update: 0.415134 deg/s,
      cmd heading: 235.844103 deg,
      new cmd heading: 235.948010 deg.

2021-08-14T15:55:36.169Z,1628956536.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:36.477Z,1628956536.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:36.477Z,1628956536.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:36.477Z,1628956536.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:36.478Z,1628956536.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:36.885Z,1628956536.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00560,186,80,80,9B,FF
2021-08-14T15:55:36.885Z,1628956536.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:36.886Z,1628956536.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:36.887Z,1628956536.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:37.293Z,1628956537.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:37.702Z,1628956537.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,0052C,186,80,80,B3,FF
2021-08-14T15:55:37.702Z,1628956537.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:38.158Z,1628956538.158 [Micromodem](INFO): Nmea in: $SNTTA,0.083001,,,,155538.67*44

2021-08-14T15:55:38.249Z,1628956538.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 222.885233 deg, deltaT: 4.432217 s, approachRate: -0.703936 m/s, LOS rate: -0.353627 deg/s, posRepo size: 4
2021-08-14T15:55:38.251Z,1628956538.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.940002 m,
      bearing: 222.885233 deg,
      approachRate: -0.703936 m/s,
      LOS rate: -0.353627 deg/s,
      cmd update: -1.060880 deg/s,
      cmd heading: 237.685337 deg,
      new cmd heading: 237.899287 deg.

2021-08-14T15:55:40.234Z,1628956540.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:40.525Z,1628956540.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:40.525Z,1628956540.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:40.525Z,1628956540.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:40.526Z,1628956540.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:40.921Z,1628956540.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,0052C,186,80,80,B3,FF
2021-08-14T15:55:40.921Z,1628956540.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:40.921Z,1628956540.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:40.923Z,1628956540.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:41.333Z,1628956541.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:41.733Z,1628956541.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C1,000,004FE,186,80,80,98,FF
2021-08-14T15:55:41.733Z,1628956541.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:42.183Z,1628956542.183 [Micromodem](INFO): Nmea in: $SNTTA,0.042922,,,,155542.71*4B

2021-08-14T15:55:42.303Z,1628956542.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.180000 m, bearing: 223.009624 deg, deltaT: 4.057038 s, approachRate: -0.680300 m/s, LOS rate: 0.030661 deg/s, posRepo size: 4
2021-08-14T15:55:42.308Z,1628956542.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.18 m.
2021-08-14T15:55:42.310Z,1628956542.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.180000 m,
      bearing: 223.009624 deg,
      approachRate: -0.680300 m/s,
      LOS rate: 0.030661 deg/s,
      cmd update: 0.091982 deg/s,
      cmd heading: 233.381050 deg,
      new cmd heading: 232.832424 deg.

2021-08-14T15:55:42.578Z,1628956542.578 [PowerOnly](INFO): Powering up loadControl
2021-08-14T15:55:42.614Z,1628956542.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T15:55:42.614Z,1628956542.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:55:42.614Z,1628956542.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T15:55:42.615Z,1628956542.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T15:55:42.615Z,1628956542.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T15:55:42.615Z,1628956542.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T15:55:42.995Z,1628956542.995 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T15:55:42.996Z,1628956542.996 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:55:42.997Z,1628956542.997 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T15:55:42.997Z,1628956542.997 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T15:55:44.633Z,1628956544.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:44.966Z,1628956544.966 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:44.966Z,1628956544.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:44.966Z,1628956544.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:44.967Z,1628956544.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:45.377Z,1628956545.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C1,000,004FE,186,80,80,98,FF
2021-08-14T15:55:45.377Z,1628956545.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:45.377Z,1628956545.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:45.379Z,1628956545.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:45.811Z,1628956545.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:46.177Z,1628956546.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,004CE,187,80,80,88,FF
2021-08-14T15:55:46.177Z,1628956546.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:46.294Z,1628956546.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:55:46.605Z,1628956546.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155547.17*5F

2021-08-14T15:55:46.656Z,1628956546.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 222.423772 deg, deltaT: 4.504523 s, approachRate: -0.639358 m/s, LOS rate: -0.130059 deg/s, posRepo size: 4
2021-08-14T15:55:46.657Z,1628956546.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.30 m.
2021-08-14T15:55:46.664Z,1628956546.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.299995 m,
      bearing: 222.423772 deg,
      approachRate: -0.639358 m/s,
      LOS rate: -0.130059 deg/s,
      cmd update: -0.390176 deg/s,
      cmd heading: 233.794320 deg,
      new cmd heading: 233.826362 deg.

2021-08-14T15:55:49.020Z,1628956549.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:49.413Z,1628956549.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:49.413Z,1628956549.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:49.414Z,1628956549.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:49.415Z,1628956549.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:49.813Z,1628956549.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,004CE,187,80,80,88,FF
2021-08-14T15:55:49.814Z,1628956549.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:49.814Z,1628956549.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:49.815Z,1628956549.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:50.217Z,1628956550.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:50.617Z,1628956550.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,00497,185,80,80,5E,FF
2021-08-14T15:55:50.618Z,1628956550.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:50.699Z,1628956550.699 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:55:51.061Z,1628956551.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155551.60*58

2021-08-14T15:55:51.170Z,1628956551.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 219.389583 deg, deltaT: 4.405079 s, approachRate: -0.749135 m/s, LOS rate: -0.688793 deg/s, posRepo size: 4
2021-08-14T15:55:51.171Z,1628956551.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-14T15:55:51.177Z,1628956551.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 219.389583 deg,
      approachRate: -0.749135 m/s,
      LOS rate: -0.688793 deg/s,
      cmd update: -2.066380 deg/s,
      cmd heading: 232.072848 deg,
      new cmd heading: 231.888336 deg.

2021-08-14T15:55:53.469Z,1628956553.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:53.853Z,1628956553.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:53.854Z,1628956553.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:53.854Z,1628956553.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:53.855Z,1628956553.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:54.253Z,1628956554.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00497,185,80,80,5E,FF
2021-08-14T15:55:54.253Z,1628956554.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:54.253Z,1628956554.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:54.255Z,1628956554.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:54.688Z,1628956554.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:55.161Z,1628956555.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07B,000,00469,186,80,80,97,FF
2021-08-14T15:55:55.162Z,1628956555.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:55.245Z,1628956555.245 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:55:55.533Z,1628956555.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155556.04*5D

2021-08-14T15:55:55.556Z,1628956555.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 221.256711 deg, deltaT: 4.546175 s, approachRate: -0.607103 m/s, LOS rate: 0.410703 deg/s, posRepo size: 4
2021-08-14T15:55:55.557Z,1628956555.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.24 m.
2021-08-14T15:55:55.557Z,1628956555.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.24 m.
2021-08-14T15:55:55.557Z,1628956555.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T15:55:55.559Z,1628956555.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.239998 m,
      bearing: 221.256711 deg,
      approachRate: -0.607103 m/s,
      LOS rate: 0.410703 deg/s,
      cmd update: 1.232109 deg/s,
      cmd heading: 222.678368 deg,
      new cmd heading: 222.020807 deg.

2021-08-14T15:55:57.919Z,1628956557.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:55:58.310Z,1628956558.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:55:58.310Z,1628956558.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:55:58.310Z,1628956558.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:55:58.311Z,1628956558.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:55:58.717Z,1628956558.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07B,000,00469,186,80,80,97,FF
2021-08-14T15:55:58.717Z,1628956558.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:55:58.717Z,1628956558.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:55:58.719Z,1628956558.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:55:59.161Z,1628956559.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:55:59.517Z,1628956559.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,0043C,183,80,80,7D,FF
2021-08-14T15:55:59.517Z,1628956559.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:55:59.538Z,1628956559.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:55:59.953Z,1628956559.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155600.50*5C

2021-08-14T15:55:59.989Z,1628956559.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.539997 m, bearing: 222.389634 deg, deltaT: 4.293033 s, approachRate: -0.628926 m/s, LOS rate: 0.263898 deg/s, posRepo size: 4
2021-08-14T15:55:59.991Z,1628956559.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.539997 m,
      bearing: 222.389634 deg,
      approachRate: -0.628926 m/s,
      LOS rate: 0.263898 deg/s,
      cmd update: 0.791694 deg/s,
      cmd heading: 227.972740 deg,
      new cmd heading: 228.532083 deg.

2021-08-14T15:56:02.401Z,1628956562.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:02.745Z,1628956562.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:02.745Z,1628956562.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:02.745Z,1628956562.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:02.746Z,1628956562.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:03.154Z,1628956563.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,0043C,183,80,80,7D,FF
2021-08-14T15:56:03.154Z,1628956563.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:03.154Z,1628956563.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:03.156Z,1628956563.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:03.552Z,1628956563.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:03.957Z,1628956563.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,0040F,184,80,80,9A,FF
2021-08-14T15:56:03.957Z,1628956563.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:03.978Z,1628956563.978 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:04.405Z,1628956564.405 [Micromodem](INFO): Nmea in: $SNTTA,0.030090,,,,155604.94*44

2021-08-14T15:56:04.412Z,1628956564.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T15:56:04.477Z,1628956564.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 222.669399 deg, deltaT: 4.439936 s, approachRate: -0.608116 m/s, LOS rate: 0.063011 deg/s, posRepo size: 4
2021-08-14T15:56:04.479Z,1628956564.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.840002 m,
      bearing: 222.669399 deg,
      approachRate: -0.608116 m/s,
      LOS rate: 0.063011 deg/s,
      cmd update: 0.189033 deg/s,
      cmd heading: 231.487966 deg,
      new cmd heading: 231.879304 deg.

2021-08-14T15:56:06.833Z,1628956566.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:07.193Z,1628956567.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:07.193Z,1628956567.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:07.193Z,1628956567.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:07.194Z,1628956567.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:07.593Z,1628956567.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,0040F,184,80,80,9A,FF
2021-08-14T15:56:07.593Z,1628956567.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:07.593Z,1628956567.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:07.595Z,1628956567.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:08.001Z,1628956568.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:08.395Z,1628956568.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,003E0,187,80,80,9C,FF
2021-08-14T15:56:08.395Z,1628956568.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:08.478Z,1628956568.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:08.847Z,1628956568.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155609.38*5B

2021-08-14T15:56:08.872Z,1628956568.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 222.771865 deg, deltaT: 4.500129 s, approachRate: -0.626649 m/s, LOS rate: 0.022770 deg/s, posRepo size: 4
2021-08-14T15:56:08.874Z,1628956568.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.020000 m,
      bearing: 222.771865 deg,
      approachRate: -0.626649 m/s,
      LOS rate: 0.022770 deg/s,
      cmd update: 0.068309 deg/s,
      cmd heading: 232.337873 deg,
      new cmd heading: 232.413639 deg.

2021-08-14T15:56:11.278Z,1628956571.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:11.646Z,1628956571.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:11.646Z,1628956571.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:11.646Z,1628956571.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:11.647Z,1628956571.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:12.045Z,1628956572.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,003E0,187,80,80,9C,FF
2021-08-14T15:56:12.045Z,1628956572.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:12.046Z,1628956572.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:12.047Z,1628956572.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:12.337Z,1628956572.337 [CTD_Seabird](ERROR): Failed to parse device response: 6.21,24.134.46
2021-08-14T15:56:12.444Z,1628956572.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:12.849Z,1628956572.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,003AF,186,80,80,90,FF
2021-08-14T15:56:12.850Z,1628956572.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:12.870Z,1628956572.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:13.277Z,1628956573.277 [Micromodem](INFO): Nmea in: $SNTTA,0.029483,,,,155613.84*4D

2021-08-14T15:56:13.318Z,1628956573.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 221.410909 deg, deltaT: 4.391878 s, approachRate: -0.669418 m/s, LOS rate: -0.309880 deg/s, posRepo size: 4
2021-08-14T15:56:13.320Z,1628956573.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.079998 m,
      bearing: 221.410909 deg,
      approachRate: -0.669418 m/s,
      LOS rate: -0.309880 deg/s,
      cmd update: -0.929641 deg/s,
      cmd heading: 232.638147 deg,
      new cmd heading: 232.668956 deg.

2021-08-14T15:56:15.707Z,1628956575.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:16.110Z,1628956576.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:16.110Z,1628956576.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:16.111Z,1628956576.111 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:16.113Z,1628956576.113 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:16.481Z,1628956576.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,003AF,186,80,80,90,FF
2021-08-14T15:56:16.481Z,1628956576.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:16.481Z,1628956576.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:16.483Z,1628956576.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:16.889Z,1628956576.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:17.297Z,1628956577.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00390,186,80,80,92,FF
2021-08-14T15:56:17.297Z,1628956577.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:17.328Z,1628956577.328 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:17.733Z,1628956577.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155618.27*55

2021-08-14T15:56:17.755Z,1628956577.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 222.600086 deg, deltaT: 4.458364 s, approachRate: -0.417194 m/s, LOS rate: 0.266729 deg/s, posRepo size: 4
2021-08-14T15:56:17.758Z,1628956577.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 222.600086 deg,
      approachRate: -0.417194 m/s,
      LOS rate: 0.266729 deg/s,
      cmd update: 0.800188 deg/s,
      cmd heading: 228.493582 deg,
      new cmd heading: 228.093297 deg.

2021-08-14T15:56:20.240Z,1628956580.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:20.521Z,1628956580.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:20.521Z,1628956580.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:20.521Z,1628956580.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:20.522Z,1628956580.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:20.925Z,1628956580.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00390,186,80,80,92,FF
2021-08-14T15:56:20.925Z,1628956580.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:20.925Z,1628956580.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:20.927Z,1628956580.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:21.337Z,1628956581.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:21.733Z,1628956581.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00351,184,80,80,91,FF
2021-08-14T15:56:21.733Z,1628956581.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:21.782Z,1628956581.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:22.185Z,1628956582.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155622.71*5F

2021-08-14T15:56:22.255Z,1628956582.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 223.025511 deg, deltaT: 4.453854 s, approachRate: -0.848703 m/s, LOS rate: 0.095518 deg/s, posRepo size: 4
2021-08-14T15:56:22.262Z,1628956582.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.439999 m,
      bearing: 223.025511 deg,
      approachRate: -0.848703 m/s,
      LOS rate: 0.095518 deg/s,
      cmd update: 0.286555 deg/s,
      cmd heading: 232.054439 deg,
      new cmd heading: 232.438895 deg.

2021-08-14T15:56:24.596Z,1628956584.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:24.965Z,1628956584.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:24.965Z,1628956584.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:24.965Z,1628956584.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:24.966Z,1628956584.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:25.378Z,1628956585.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00351,184,80,80,91,FF
2021-08-14T15:56:25.378Z,1628956585.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:25.378Z,1628956585.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:25.380Z,1628956585.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:25.776Z,1628956585.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:26.185Z,1628956586.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00337,186,80,80,B8,FF
2021-08-14T15:56:26.185Z,1628956586.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:26.289Z,1628956586.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:26.617Z,1628956586.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155627.17*5A

2021-08-14T15:56:26.665Z,1628956586.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 219.149119 deg, deltaT: 4.506922 s, approachRate: -0.346134 m/s, LOS rate: -0.860097 deg/s, posRepo size: 4
2021-08-14T15:56:26.668Z,1628956586.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 219.149119 deg,
      approachRate: -0.346134 m/s,
      LOS rate: -0.860097 deg/s,
      cmd update: -2.580292 deg/s,
      cmd heading: 233.345923 deg,
      new cmd heading: 233.455367 deg.

2021-08-14T15:56:29.059Z,1628956589.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:29.409Z,1628956589.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:29.409Z,1628956589.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:29.409Z,1628956589.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:29.410Z,1628956589.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:29.827Z,1628956589.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00337,186,80,80,B8,FF
2021-08-14T15:56:29.827Z,1628956589.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:29.827Z,1628956589.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:29.829Z,1628956589.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:30.226Z,1628956590.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:30.629Z,1628956590.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00312,186,80,80,B4,FF
2021-08-14T15:56:30.629Z,1628956590.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:30.698Z,1628956590.698 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:31.066Z,1628956591.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155631.61*5C

2021-08-14T15:56:31.137Z,1628956591.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 220.909669 deg, deltaT: 4.408618 s, approachRate: -0.503559 m/s, LOS rate: 0.399343 deg/s, posRepo size: 4
2021-08-14T15:56:31.139Z,1628956591.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 220.909669 deg,
      approachRate: -0.503559 m/s,
      LOS rate: 0.399343 deg/s,
      cmd update: 1.198028 deg/s,
      cmd heading: 221.970367 deg,
      new cmd heading: 220.819036 deg.

2021-08-14T15:56:33.518Z,1628956593.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:33.861Z,1628956593.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:33.861Z,1628956593.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:33.861Z,1628956593.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:33.862Z,1628956593.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:34.261Z,1628956594.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00312,186,80,80,B4,FF
2021-08-14T15:56:34.261Z,1628956594.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:34.261Z,1628956594.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:34.263Z,1628956594.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:34.724Z,1628956594.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:35.073Z,1628956595.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,002CE,183,80,80,A8,FF
2021-08-14T15:56:35.074Z,1628956595.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:35.135Z,1628956595.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:35.517Z,1628956595.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155636.05*59

2021-08-14T15:56:35.553Z,1628956595.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 219.709618 deg, deltaT: 4.437051 s, approachRate: -0.919530 m/s, LOS rate: -0.270461 deg/s, posRepo size: 4
2021-08-14T15:56:35.555Z,1628956595.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 219.709618 deg,
      approachRate: -0.919530 m/s,
      LOS rate: -0.270461 deg/s,
      cmd update: -0.811384 deg/s,
      cmd heading: 227.281240 deg,
      new cmd heading: 227.795846 deg.

2021-08-14T15:56:37.911Z,1628956597.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:38.309Z,1628956598.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:38.309Z,1628956598.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:38.309Z,1628956598.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:38.310Z,1628956598.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:38.705Z,1628956598.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,002CE,183,80,80,A8,FF
2021-08-14T15:56:38.705Z,1628956598.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:38.706Z,1628956598.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:38.707Z,1628956598.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:39.137Z,1628956599.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:39.507Z,1628956599.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,002B8,185,80,80,61,FF
2021-08-14T15:56:39.507Z,1628956599.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:39.527Z,1628956599.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:39.962Z,1628956599.962 [Micromodem](INFO): Nmea in: $SNTTA,0.028299,,,,155640.49*46

2021-08-14T15:56:39.981Z,1628956599.981 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T15:56:39.982Z,1628956599.982 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:56:39.982Z,1628956599.982 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T15:56:39.982Z,1628956599.982 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:56:39.982Z,1628956599.982 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T15:56:39.983Z,1628956599.983 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.259999 m 
2021-08-14T15:56:39.983Z,1628956599.983 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T15:56:39.983Z,1628956599.983 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T15:56:39.983Z,1628956599.983 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T15:56:39.986Z,1628956599.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 225.740470 deg, deltaT: 4.392967 s, approachRate: -0.300481 m/s, LOS rate: 1.372843 deg/s, posRepo size: 4
2021-08-14T15:56:39.988Z,1628956599.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 225.740470 deg,
      approachRate: -0.300481 m/s,
      LOS rate: 1.372843 deg/s,
      cmd update: 4.118528 deg/s,
      cmd heading: 223.710463 deg,
      new cmd heading: 223.336008 deg.

2021-08-14T15:56:40.380Z,1628956600.380 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T155640: (41.552319, -70.708603)
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T15:56:40.381Z,1628956600.381 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T15:56:42.422Z,1628956602.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:42.745Z,1628956602.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:42.745Z,1628956602.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:42.746Z,1628956602.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:42.746Z,1628956602.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:43.157Z,1628956603.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,002B8,185,80,80,61,FF
2021-08-14T15:56:43.157Z,1628956603.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:43.157Z,1628956603.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:43.159Z,1628956603.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:43.561Z,1628956603.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:43.965Z,1628956603.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,002C2,186,80,80,A3,FF
2021-08-14T15:56:43.965Z,1628956603.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:44.010Z,1628956604.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:44.397Z,1628956604.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155644.95*55

2021-08-14T15:56:44.475Z,1628956604.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 232.983845 deg, deltaT: 4.482637 s, approachRate: 0.133850 m/s, LOS rate: 1.615874 deg/s, posRepo size: 4
2021-08-14T15:56:44.486Z,1628956604.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 232.983845 deg,
      approachRate: 0.133850 m/s,
      LOS rate: 1.615874 deg/s,
      cmd update: 4.847621 deg/s,
      cmd heading: 242.073505 deg,
      new cmd heading: 244.100216 deg.

2021-08-14T15:56:46.819Z,1628956606.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:47.198Z,1628956607.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:47.198Z,1628956607.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:47.198Z,1628956607.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:47.199Z,1628956607.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:47.593Z,1628956607.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,002C2,186,80,80,A3,FF
2021-08-14T15:56:47.593Z,1628956607.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:47.593Z,1628956607.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:47.595Z,1628956607.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:48.022Z,1628956608.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:48.401Z,1628956608.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,002FB,186,80,80,46,FF
2021-08-14T15:56:48.402Z,1628956608.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:48.560Z,1628956608.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:48.845Z,1628956608.845 [Micromodem](INFO): Nmea in: $SNTTA,0.038960,,,,155649.38*45

2021-08-14T15:56:48.881Z,1628956608.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 244.562983 deg, deltaT: 4.549897 s, approachRate: 0.751665 m/s, LOS rate: 2.544923 deg/s, posRepo size: 4
2021-08-14T15:56:48.883Z,1628956608.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 244.562983 deg,
      approachRate: 0.751665 m/s,
      LOS rate: 2.544923 deg/s,
      cmd update: 7.634769 deg/s,
      cmd heading: 264.167652 deg,
      new cmd heading: 265.819566 deg.

2021-08-14T15:56:51.277Z,1628956611.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:51.634Z,1628956611.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:51.634Z,1628956611.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:51.634Z,1628956611.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:51.635Z,1628956611.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:52.049Z,1628956612.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,002FB,186,80,80,46,FF
2021-08-14T15:56:52.050Z,1628956612.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:52.051Z,1628956612.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:52.058Z,1628956612.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:52.445Z,1628956612.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:52.850Z,1628956612.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00306,187,80,80,9C,FF
2021-08-14T15:56:52.851Z,1628956612.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:52.909Z,1628956612.909 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:53.264Z,1628956613.264 [Micromodem](INFO): Nmea in: $SNTTA,,0.011355,,,155653.86*4C

2021-08-14T15:56:53.307Z,1628956613.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 243.552525 deg, deltaT: 4.349192 s, approachRate: 0.151752 m/s, LOS rate: -0.232332 deg/s, posRepo size: 4
2021-08-14T15:56:53.310Z,1628956613.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 243.552525 deg,
      approachRate: 0.151752 m/s,
      LOS rate: -0.232332 deg/s,
      cmd update: -0.696997 deg/s,
      cmd heading: 297.466263 deg,
      new cmd heading: 300.561407 deg.

2021-08-14T15:56:55.702Z,1628956615.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:56:56.131Z,1628956616.131 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:56:56.131Z,1628956616.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:56:56.132Z,1628956616.132 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:56:56.133Z,1628956616.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:56:56.477Z,1628956616.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00306,187,80,80,9C,FF
2021-08-14T15:56:56.477Z,1628956616.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:56:56.478Z,1628956616.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:56:56.479Z,1628956616.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:56:56.890Z,1628956616.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:56:57.299Z,1628956617.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00340,186,80,80,85,FF
2021-08-14T15:56:57.299Z,1628956617.299 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:56:57.330Z,1628956617.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:56:57.737Z,1628956617.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155658.27*51

2021-08-14T15:56:57.761Z,1628956617.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.419999 m, bearing: 290.033082 deg, deltaT: 4.420876 s, approachRate: 0.787174 m/s, LOS rate: 10.513879 deg/s, posRepo size: 4
2021-08-14T15:56:57.763Z,1628956617.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.419999 m,
      bearing: 290.033082 deg,
      approachRate: 0.787174 m/s,
      LOS rate: 10.513879 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 294.382144 deg,
      new cmd heading: 294.079332 deg.

2021-08-14T15:57:00.226Z,1628956620.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:00.521Z,1628956620.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:00.521Z,1628956620.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:00.522Z,1628956620.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:00.523Z,1628956620.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:00.931Z,1628956620.931 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00340,186,80,80,85,FF
2021-08-14T15:57:00.931Z,1628956620.931 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:00.931Z,1628956620.931 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:00.933Z,1628956620.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:01.332Z,1628956621.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:01.733Z,1628956621.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,0034C,189,80,80,67,FF
2021-08-14T15:57:01.734Z,1628956621.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:01.825Z,1628956621.825 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:02.178Z,1628956622.178 [Micromodem](INFO): Nmea in: $SNTTA,0.047543,,,,155702.72*40

2021-08-14T15:57:02.257Z,1628956622.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 247.232576 deg, deltaT: 4.494730 s, approachRate: 0.160188 m/s, LOS rate: -9.522376 deg/s, posRepo size: 4
2021-08-14T15:57:02.259Z,1628956622.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 247.232576 deg,
      approachRate: 0.160188 m/s,
      LOS rate: -9.522376 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 348.272275 deg,
      new cmd heading: 353.344051 deg.

2021-08-14T15:57:04.616Z,1628956624.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:04.965Z,1628956624.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:04.966Z,1628956624.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:04.966Z,1628956624.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:04.967Z,1628956624.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:05.381Z,1628956625.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,0034C,189,80,80,67,FF
2021-08-14T15:57:05.381Z,1628956625.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:05.381Z,1628956625.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:05.383Z,1628956625.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:05.791Z,1628956625.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:06.179Z,1628956626.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,0036D,186,80,80,4B,FF
2021-08-14T15:57:06.180Z,1628956626.180 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:06.246Z,1628956626.246 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:06.629Z,1628956626.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155707.17*59

2021-08-14T15:57:06.685Z,1628956626.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.120001 m, bearing: 321.887500 deg, deltaT: 4.420958 s, approachRate: 0.447867 m/s, LOS rate: 16.886594 deg/s, posRepo size: 4
2021-08-14T15:57:06.686Z,1628956626.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.886594 deg/s. Setting heading cmd to target bearing of 321.887500deg and heading rate command to 0 deg/s.
2021-08-14T15:57:09.049Z,1628956629.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:09.417Z,1628956629.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:09.417Z,1628956629.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:09.417Z,1628956629.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:09.418Z,1628956629.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:09.825Z,1628956629.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,0036D,186,80,80,4B,FF
2021-08-14T15:57:09.825Z,1628956629.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:09.825Z,1628956629.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:09.827Z,1628956629.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:10.236Z,1628956630.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:10.629Z,1628956630.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00380,186,80,80,7D,FF
2021-08-14T15:57:10.629Z,1628956630.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:10.686Z,1628956630.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:11.081Z,1628956631.081 [Micromodem](INFO): Nmea in: $SNTTA,0.026320,,,,155711.62*47

2021-08-14T15:57:11.140Z,1628956631.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 333.577942 deg, deltaT: 4.440722 s, approachRate: 0.256715 m/s, LOS rate: 2.632554 deg/s, posRepo size: 4
2021-08-14T15:57:11.142Z,1628956631.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.260000 m,
      bearing: 333.577942 deg,
      approachRate: 0.256715 m/s,
      LOS rate: 2.632554 deg/s,
      cmd update: 7.897663 deg/s,
      cmd heading: 321.887500 deg,
      new cmd heading: 321.887500 deg.

2021-08-14T15:57:13.502Z,1628956633.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:13.857Z,1628956633.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:13.857Z,1628956633.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:13.857Z,1628956633.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:13.858Z,1628956633.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:14.269Z,1628956634.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00380,186,80,80,7D,FF
2021-08-14T15:57:14.269Z,1628956634.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:14.269Z,1628956634.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:14.271Z,1628956634.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:14.692Z,1628956634.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:15.077Z,1628956635.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,00392,189,80,80,7D,FF
2021-08-14T15:57:15.078Z,1628956635.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:15.139Z,1628956635.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:15.505Z,1628956635.505 [Micromodem](INFO): Nmea in: $SNTTA,0.036610,,,,155716.06*45

2021-08-14T15:57:15.536Z,1628956635.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 1.285883 deg, deltaT: 4.452311 s, approachRate: 0.242570 m/s, LOS rate: 6.223271 deg/s, posRepo size: 4
2021-08-14T15:57:15.538Z,1628956635.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.339998 m,
      bearing: 1.285883 deg,
      approachRate: 0.242570 m/s,
      LOS rate: 6.223271 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.098646 deg,
      new cmd heading: 0.259939 deg.

2021-08-14T15:57:17.125Z,1628956637.125 [PowerOnly](INFO): Powering down loadControl
2021-08-14T15:57:17.914Z,1628956637.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:18.297Z,1628956638.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:18.297Z,1628956638.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:18.298Z,1628956638.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:18.299Z,1628956638.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:18.709Z,1628956638.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,00392,189,80,80,7D,FF
2021-08-14T15:57:18.709Z,1628956638.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:18.709Z,1628956638.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:18.711Z,1628956638.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:19.121Z,1628956639.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:19.517Z,1628956639.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,003AA,189,80,80,7C,FF
2021-08-14T15:57:19.518Z,1628956639.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:19.538Z,1628956639.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:19.941Z,1628956639.941 [Micromodem](INFO): Nmea in: $SNTTA,0.027384,,,,155720.50*4B

2021-08-14T15:57:19.975Z,1628956639.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 21.823696 deg, deltaT: 4.399023 s, approachRate: 0.327345 m/s, LOS rate: 4.668721 deg/s, posRepo size: 4
2021-08-14T15:57:19.976Z,1628956639.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.78 m. Rolling out.
2021-08-14T15:57:19.976Z,1628956639.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T15:57:22.415Z,1628956642.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:22.752Z,1628956642.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:22.753Z,1628956642.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:22.753Z,1628956642.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:22.754Z,1628956642.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:23.169Z,1628956643.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,003AA,189,80,80,7C,FF
2021-08-14T15:57:23.169Z,1628956643.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:23.169Z,1628956643.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:23.171Z,1628956643.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:23.565Z,1628956643.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:23.953Z,1628956643.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,0039D,189,80,80,75,FF
2021-08-14T15:57:23.953Z,1628956643.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:24.010Z,1628956644.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:24.385Z,1628956644.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155724.96*51

2021-08-14T15:57:24.431Z,1628956644.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 48.707230 deg, deltaT: 4.472324 s, approachRate: -0.174405 m/s, LOS rate: 6.011088 deg/s, posRepo size: 4
2021-08-14T15:57:26.804Z,1628956646.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:27.185Z,1628956647.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:27.185Z,1628956647.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:27.185Z,1628956647.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:27.186Z,1628956647.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:27.589Z,1628956647.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,0039D,189,80,80,75,FF
2021-08-14T15:57:27.589Z,1628956647.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:27.589Z,1628956647.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:27.591Z,1628956647.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:28.005Z,1628956648.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:28.401Z,1628956648.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,00399,189,80,80,AC,FF
2021-08-14T15:57:28.401Z,1628956648.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:28.496Z,1628956648.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:28.833Z,1628956648.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155729.38*58

2021-08-14T15:57:28.862Z,1628956648.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 66.623680 deg, deltaT: 4.486193 s, approachRate: -0.053498 m/s, LOS rate: 3.993687 deg/s, posRepo size: 4
2021-08-14T15:57:31.269Z,1628956651.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:31.633Z,1628956651.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:31.634Z,1628956651.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:31.634Z,1628956651.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:31.635Z,1628956651.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:32.045Z,1628956652.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,00399,189,80,80,AC,FF
2021-08-14T15:57:32.045Z,1628956652.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:32.046Z,1628956652.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:32.058Z,1628956652.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:32.449Z,1628956652.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:32.850Z,1628956652.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,00390,188,80,80,88,FF
2021-08-14T15:57:32.850Z,1628956652.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:32.870Z,1628956652.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:33.263Z,1628956653.263 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155733.85*55

2021-08-14T15:57:33.302Z,1628956653.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 86.836908 deg, deltaT: 4.373182 s, approachRate: -0.123480 m/s, LOS rate: 4.622087 deg/s, posRepo size: 4
2021-08-14T15:57:35.704Z,1628956655.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:36.109Z,1628956656.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:36.110Z,1628956656.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:36.110Z,1628956656.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:36.117Z,1628956656.117 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:36.477Z,1628956656.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,00390,188,80,80,88,FF
2021-08-14T15:57:36.477Z,1628956656.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:36.477Z,1628956656.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:36.479Z,1628956656.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:36.884Z,1628956656.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:37.289Z,1628956657.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7B,000,00380,188,80,80,B0,FF
2021-08-14T15:57:37.289Z,1628956657.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:37.356Z,1628956657.356 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:37.725Z,1628956657.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155738.27*56

2021-08-14T15:57:37.764Z,1628956657.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 104.742945 deg, deltaT: 4.486407 s, approachRate: -0.213979 m/s, LOS rate: 3.991175 deg/s, posRepo size: 4
2021-08-14T15:57:40.228Z,1628956660.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:40.517Z,1628956660.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:40.517Z,1628956660.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:40.517Z,1628956660.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:40.518Z,1628956660.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:40.925Z,1628956660.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7B,000,00380,188,80,80,B0,FF
2021-08-14T15:57:40.925Z,1628956660.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:40.926Z,1628956660.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:40.927Z,1628956660.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:41.329Z,1628956661.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:41.727Z,1628956661.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00378,188,80,80,A4,FF
2021-08-14T15:57:41.727Z,1628956661.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:41.752Z,1628956661.752 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:42.169Z,1628956662.169 [Micromodem](INFO): Nmea in: $SNTTA,0.476737,0.476618,,,155742.71*54

2021-08-14T15:57:42.251Z,1628956662.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 85.390656 deg, deltaT: 4.395959 s, approachRate: -0.109192 m/s, LOS rate: -4.402291 deg/s, posRepo size: 4
2021-08-14T15:57:44.592Z,1628956664.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:44.969Z,1628956664.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:44.969Z,1628956664.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:44.969Z,1628956664.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:44.970Z,1628956664.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:45.373Z,1628956665.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00378,188,80,80,A4,FF
2021-08-14T15:57:45.373Z,1628956665.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:45.373Z,1628956665.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:45.375Z,1628956665.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:45.793Z,1628956665.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:46.201Z,1628956666.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00377,186,80,80,8E,FF
2021-08-14T15:57:46.201Z,1628956666.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:46.229Z,1628956666.229 [Micromodem](INFO): Nmea in: $SNTTA,0.033247,0.292352,,,155747.16*50

2021-08-14T15:57:46.293Z,1628956666.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:46.620Z,1628956666.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 30.689218 deg, deltaT: 4.541210 s, approachRate: -0.013212 m/s, LOS rate: -12.045565 deg/s, posRepo size: 4
2021-08-14T15:57:49.023Z,1628956669.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:49.409Z,1628956669.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:49.410Z,1628956669.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:49.410Z,1628956669.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:49.411Z,1628956669.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:49.809Z,1628956669.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00377,186,80,80,8E,FF
2021-08-14T15:57:49.809Z,1628956669.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:49.809Z,1628956669.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:49.811Z,1628956669.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:50.221Z,1628956670.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:50.617Z,1628956670.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00382,189,80,80,26,FF
2021-08-14T15:57:50.617Z,1628956670.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:50.684Z,1628956670.684 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:51.064Z,1628956671.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155751.60*5A

2021-08-14T15:57:51.115Z,1628956671.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 83.481133 deg, deltaT: 4.391055 s, approachRate: 0.150306 m/s, LOS rate: 12.022604 deg/s, posRepo size: 4
2021-08-14T15:57:53.474Z,1628956673.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:53.857Z,1628956673.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:53.857Z,1628956673.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:53.857Z,1628956673.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:53.858Z,1628956673.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:54.253Z,1628956674.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00382,189,80,80,26,FF
2021-08-14T15:57:54.253Z,1628956674.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:54.254Z,1628956674.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:54.255Z,1628956674.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:54.659Z,1628956674.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:55.062Z,1628956675.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,003AD,186,80,80,79,FF
2021-08-14T15:57:55.062Z,1628956675.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:55.126Z,1628956675.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:55.506Z,1628956675.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155756.04*5F

2021-08-14T15:57:55.532Z,1628956675.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 75.620139 deg, deltaT: 4.441333 s, approachRate: 0.580907 m/s, LOS rate: -1.769963 deg/s, posRepo size: 4
2021-08-14T15:57:57.922Z,1628956677.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:57:58.293Z,1628956678.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:57:58.293Z,1628956678.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:57:58.293Z,1628956678.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:57:58.294Z,1628956678.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:57:58.709Z,1628956678.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,003AD,186,80,80,79,FF
2021-08-14T15:57:58.709Z,1628956678.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:57:58.709Z,1628956678.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:57:58.711Z,1628956678.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:57:59.127Z,1628956679.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:57:59.509Z,1628956679.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,003AE,186,80,80,5C,FF
2021-08-14T15:57:59.510Z,1628956679.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:57:59.529Z,1628956679.529 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:57:59.937Z,1628956679.937 [Micromodem](INFO): Nmea in: $SNTTA,0.043216,,,,155800.50*4E

2021-08-14T15:57:59.959Z,1628956679.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 64.763184 deg, deltaT: 4.403846 s, approachRate: 0.013624 m/s, LOS rate: -2.465335 deg/s, posRepo size: 4
2021-08-14T15:58:02.397Z,1628956682.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:02.741Z,1628956682.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:02.741Z,1628956682.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:02.741Z,1628956682.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:02.742Z,1628956682.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:03.149Z,1628956683.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,003AE,186,80,80,5C,FF
2021-08-14T15:58:03.149Z,1628956683.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:03.149Z,1628956683.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:03.151Z,1628956683.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:03.557Z,1628956683.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:03.953Z,1628956683.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,003D0,189,80,80,5B,FF
2021-08-14T15:58:03.953Z,1628956683.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:03.973Z,1628956683.973 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:58:04.386Z,1628956684.386 [Micromodem](INFO): Nmea in: $SNTTA,0.365169,0.364919,,,155804.94*50

2021-08-14T15:58:04.431Z,1628956684.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 84.673753 deg, deltaT: 4.443579 s, approachRate: 0.459089 m/s, LOS rate: 4.480751 deg/s, posRepo size: 4
2021-08-14T15:58:06.846Z,1628956686.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:07.181Z,1628956687.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:07.181Z,1628956687.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:07.181Z,1628956687.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:07.182Z,1628956687.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:07.593Z,1628956687.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,003D0,189,80,80,5B,FF
2021-08-14T15:58:07.593Z,1628956687.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:07.593Z,1628956687.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:07.595Z,1628956687.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:07.989Z,1628956687.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:08.409Z,1628956688.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,003F5,187,80,80,8A,FF
2021-08-14T15:58:08.409Z,1628956688.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:08.505Z,1628956688.505 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:58:08.847Z,1628956688.847 [Micromodem](INFO): Nmea in: $SNTTA,0.127872,,,,155809.38*42

2021-08-14T15:58:08.867Z,1628956688.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 66.859417 deg, deltaT: 4.532250 s, approachRate: 0.489824 m/s, LOS rate: -3.930572 deg/s, posRepo size: 4
2021-08-14T15:58:11.270Z,1628956691.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:11.634Z,1628956691.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:11.634Z,1628956691.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:11.635Z,1628956691.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:11.636Z,1628956691.636 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:12.030Z,1628956692.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,003F5,187,80,80,8A,FF
2021-08-14T15:58:12.031Z,1628956692.031 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:12.031Z,1628956692.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:12.036Z,1628956692.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:12.460Z,1628956692.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:12.513Z,1628956692.513 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T15:58:12.513Z,1628956692.513 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T15:58:12.513Z,1628956692.513 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T15:58:12.641Z,1628956692.641 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T15:58:12.841Z,1628956692.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,00423,186,80,80,46,FF
2021-08-14T15:58:12.841Z,1628956692.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:12.916Z,1628956692.916 [RDI_Pathfinder](INFO): Powering down
2021-08-14T15:58:12.942Z,1628956692.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:58:13.277Z,1628956693.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155813.83*5E

2021-08-14T15:58:13.334Z,1628956693.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 67.799429 deg, deltaT: 4.436595 s, approachRate: 0.622098 m/s, LOS rate: 0.211877 deg/s, posRepo size: 4
2021-08-14T15:58:13.754Z,1628956693.754 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T15:58:13.754Z,1628956693.754 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T15:58:15.719Z,1628956695.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:16.113Z,1628956696.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:16.113Z,1628956696.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:16.113Z,1628956696.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:16.114Z,1628956696.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:16.474Z,1628956696.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,00423,186,80,80,46,FF
2021-08-14T15:58:16.474Z,1628956696.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:16.474Z,1628956696.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:16.477Z,1628956696.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:16.928Z,1628956696.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:17.293Z,1628956697.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00447,186,80,80,4F,FF
2021-08-14T15:58:17.293Z,1628956697.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:17.357Z,1628956697.357 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:58:17.742Z,1628956697.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 65.554769 deg, deltaT: 4.414926 s, approachRate: 0.489249 m/s, LOS rate: -0.508425 deg/s, posRepo size: 4
2021-08-14T15:58:20.193Z,1628956700.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:20.525Z,1628956700.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:20.525Z,1628956700.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:20.526Z,1628956700.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:20.527Z,1628956700.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:20.933Z,1628956700.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00447,186,80,80,4F,FF
2021-08-14T15:58:20.933Z,1628956700.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:20.933Z,1628956700.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:20.935Z,1628956700.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:21.335Z,1628956701.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:22.160Z,1628956702.160 [Micromodem](INFO): Nmea in: $SNTTA,0.033816,,,,155822.72*43

2021-08-14T15:58:22.990Z,1628956702.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:24.553Z,1628956704.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,4F,FF
2021-08-14T15:58:24.553Z,1628956704.553 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,4F,FF
2021-08-14T15:58:24.553Z,1628956704.553 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T15:58:25.798Z,1628956705.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:26.173Z,1628956706.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:26.173Z,1628956706.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:26.173Z,1628956706.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:26.174Z,1628956706.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:26.573Z,1628956706.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,4F,FF
2021-08-14T15:58:26.573Z,1628956706.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:26.573Z,1628956706.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:26.575Z,1628956706.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:26.997Z,1628956706.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:27.381Z,1628956707.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,004B2,187,80,80,4B,FF
2021-08-14T15:58:27.381Z,1628956707.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:27.440Z,1628956707.440 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:58:27.833Z,1628956707.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155828.36*58

2021-08-14T15:58:27.862Z,1628956707.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 65.847415 deg, deltaT: 10.083445 s, approachRate: 0.636688 m/s, LOS rate: 0.029022 deg/s, posRepo size: 4
2021-08-14T15:58:30.339Z,1628956710.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:30.621Z,1628956710.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:30.621Z,1628956710.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:30.621Z,1628956710.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:30.622Z,1628956710.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:31.071Z,1628956711.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,004B2,187,80,80,4B,FF
2021-08-14T15:58:31.076Z,1628956711.076 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:31.077Z,1628956711.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:31.084Z,1628956711.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:31.420Z,1628956711.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:31.825Z,1628956711.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,004E5,186,80,80,64,FF
2021-08-14T15:58:31.826Z,1628956711.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:31.847Z,1628956711.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:58:32.282Z,1628956712.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155832.87*59

2021-08-14T15:58:32.359Z,1628956712.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 61.906553 deg, deltaT: 4.406654 s, approachRate: 0.694404 m/s, LOS rate: -0.894298 deg/s, posRepo size: 4
2021-08-14T15:58:34.695Z,1628956714.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:35.068Z,1628956715.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:35.068Z,1628956715.068 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:35.069Z,1628956715.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:35.071Z,1628956715.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:35.461Z,1628956715.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,004E5,186,80,80,64,FF
2021-08-14T15:58:35.461Z,1628956715.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:35.461Z,1628956715.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:35.463Z,1628956715.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:35.869Z,1628956715.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:36.269Z,1628956716.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00514,187,80,80,3D,FF
2021-08-14T15:58:36.269Z,1628956716.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:36.376Z,1628956716.376 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T15:58:36.718Z,1628956716.718 [Micromodem](INFO): Nmea in: $SNTTA,0.041454,,,,155837.25*4A

2021-08-14T15:58:36.740Z,1628956716.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 63.849653 deg, deltaT: 4.529238 s, approachRate: 0.622621 m/s, LOS rate: 0.429013 deg/s, posRepo size: 4
2021-08-14T15:58:37.123Z,1628956717.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T15:58:37.123Z,1628956717.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:58:37.124Z,1628956717.124 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T15:58:37.124Z,1628956717.124 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T15:58:37.125Z,1628956717.125 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T15:58:37.125Z,1628956717.125 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T15:58:37.521Z,1628956717.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T15:58:37.521Z,1628956717.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:58:37.521Z,1628956717.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T15:58:37.522Z,1628956717.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T15:58:38.337Z,1628956718.337 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T15:58:39.161Z,1628956719.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:39.501Z,1628956719.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:39.501Z,1628956719.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:39.501Z,1628956719.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:39.502Z,1628956719.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:39.909Z,1628956719.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00514,187,80,80,3D,FF
2021-08-14T15:58:39.910Z,1628956719.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:39.910Z,1628956719.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:39.912Z,1628956719.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:40.324Z,1628956720.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:40.722Z,1628956720.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,0053D,186,80,80,57,FF
2021-08-14T15:58:40.722Z,1628956720.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:41.161Z,1628956721.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155841.70*55

2021-08-14T15:58:41.187Z,1628956721.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 44.040633 deg, deltaT: 4.365120 s, approachRate: 0.563558 m/s, LOS rate: -4.538024 deg/s, posRepo size: 4
2021-08-14T15:58:43.570Z,1628956723.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:43.945Z,1628956723.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:43.945Z,1628956723.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:43.945Z,1628956723.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:43.946Z,1628956723.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:44.354Z,1628956724.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,0053D,186,80,80,57,FF
2021-08-14T15:58:44.354Z,1628956724.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:44.354Z,1628956724.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:44.356Z,1628956724.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:44.771Z,1628956724.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:45.161Z,1628956725.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,00571,186,80,80,5C,FF
2021-08-14T15:58:45.162Z,1628956725.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:45.605Z,1628956725.605 [Micromodem](INFO): Nmea in: $SNTTA,0.058257,,,,155846.14*43

2021-08-14T15:58:45.627Z,1628956725.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 41.880247 deg, deltaT: 4.450756 s, approachRate: 0.701005 m/s, LOS rate: -0.485397 deg/s, posRepo size: 4
2021-08-14T15:58:48.015Z,1628956728.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:48.397Z,1628956728.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:48.397Z,1628956728.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:48.397Z,1628956728.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:48.398Z,1628956728.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:48.789Z,1628956728.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,00571,186,80,80,5C,FF
2021-08-14T15:58:48.790Z,1628956728.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:48.790Z,1628956728.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:48.791Z,1628956728.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:49.209Z,1628956729.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:49.609Z,1628956729.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,0059D,188,80,80,73,FF
2021-08-14T15:58:49.610Z,1628956729.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:50.054Z,1628956730.054 [Micromodem](INFO): Nmea in: $SNTTA,0.068924,,,,155850.58*40

2021-08-14T15:58:50.109Z,1628956730.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 27.959497 deg, deltaT: 4.482596 s, approachRate: 0.588944 m/s, LOS rate: -3.105511 deg/s, posRepo size: 4
2021-08-14T15:58:52.480Z,1628956732.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:52.833Z,1628956732.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:52.833Z,1628956732.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:52.833Z,1628956732.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:52.834Z,1628956732.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:53.250Z,1628956733.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,0059D,188,80,80,73,FF
2021-08-14T15:58:53.250Z,1628956733.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:53.250Z,1628956733.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:53.252Z,1628956733.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:53.668Z,1628956733.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:54.049Z,1628956734.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,005D1,186,80,80,8F,FF
2021-08-14T15:58:54.049Z,1628956734.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:54.501Z,1628956734.501 [Micromodem](INFO): Nmea in: $SNTTA,,0.394105,,,155855.04*47

2021-08-14T15:58:54.571Z,1628956734.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 66.447038 deg, deltaT: 4.424198 s, approachRate: 0.705213 m/s, LOS rate: 8.699326 deg/s, posRepo size: 4
2021-08-14T15:58:56.917Z,1628956736.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:58:57.285Z,1628956737.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:58:57.285Z,1628956737.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:58:57.285Z,1628956737.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:58:57.286Z,1628956737.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:58:57.724Z,1628956737.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,005D1,186,80,80,8F,FF
2021-08-14T15:58:57.725Z,1628956737.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:58:57.725Z,1628956737.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:58:57.726Z,1628956737.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:58:58.164Z,1628956738.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:58:58.493Z,1628956738.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00603,189,80,80,94,FF
2021-08-14T15:58:58.493Z,1628956738.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:58:58.915Z,1628956738.915 [Micromodem](INFO): Nmea in: $SNTTA,0.054620,,,,155859.51*44

2021-08-14T15:58:58.964Z,1628956738.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 28.666420 deg, deltaT: 4.470696 s, approachRate: 0.671036 m/s, LOS rate: -8.450724 deg/s, posRepo size: 4
2021-08-14T15:59:01.356Z,1628956741.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:01.721Z,1628956741.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:01.721Z,1628956741.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:01.721Z,1628956741.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:01.722Z,1628956741.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:02.144Z,1628956742.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00603,189,80,80,94,FF
2021-08-14T15:59:02.145Z,1628956742.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:02.146Z,1628956742.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:02.151Z,1628956742.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:02.536Z,1628956742.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:02.933Z,1628956742.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,0063B,186,80,80,71,FF
2021-08-14T15:59:02.934Z,1628956742.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:03.365Z,1628956743.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155903.94*58

2021-08-14T15:59:03.407Z,1628956743.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 68.870607 deg, deltaT: 4.438362 s, approachRate: 0.757036 m/s, LOS rate: 9.058339 deg/s, posRepo size: 4
2021-08-14T15:59:05.783Z,1628956745.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:06.184Z,1628956746.184 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:06.185Z,1628956746.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:06.185Z,1628956746.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:06.186Z,1628956746.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:06.578Z,1628956746.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,0063B,186,80,80,71,FF
2021-08-14T15:59:06.578Z,1628956746.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:06.578Z,1628956746.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:06.580Z,1628956746.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:06.977Z,1628956746.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:07.814Z,1628956747.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155908.37*5A

2021-08-14T15:59:08.325Z,1628956748.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:08.589Z,1628956748.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEC,000,03770,186,80,80,7F,FF
2021-08-14T15:59:08.589Z,1628956748.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:09.039Z,1628956749.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 814.020020 m, bearing: 69.666454 deg, deltaT: 5.626933 s, approachRate: 134.321838 m/s, LOS rate: 0.141435 deg/s, posRepo size: 4
2021-08-14T15:59:09.039Z,1628956749.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 814.02 m. Resuming terminal guidance.
2021-08-14T15:59:09.039Z,1628956749.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T15:59:11.461Z,1628956751.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:11.821Z,1628956751.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:11.821Z,1628956751.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:11.821Z,1628956751.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:11.822Z,1628956751.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:12.241Z,1628956752.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEC,000,03770,186,80,80,7F,FF
2021-08-14T15:59:12.241Z,1628956752.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:12.241Z,1628956752.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:12.243Z,1628956752.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:12.634Z,1628956752.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:13.033Z,1628956753.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECB,000,006AB,186,80,80,8F,FF
2021-08-14T15:59:13.033Z,1628956753.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:13.469Z,1628956753.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155914.03*50

2021-08-14T15:59:13.506Z,1628956753.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 71.492382 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T15:59:13.507Z,1628956753.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 71.492382deg and heading rate command to 0 deg/s.
2021-08-14T15:59:15.887Z,1628956755.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:16.269Z,1628956756.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:16.270Z,1628956756.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:16.270Z,1628956756.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:16.271Z,1628956756.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:16.681Z,1628956756.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECB,000,006AB,186,80,80,8F,FF
2021-08-14T15:59:16.682Z,1628956756.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:16.682Z,1628956756.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:16.683Z,1628956756.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:17.097Z,1628956757.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:17.907Z,1628956757.907 [Micromodem](INFO): Nmea in: $SNTTA,0.064882,,,,155918.47*42

2021-08-14T15:59:18.697Z,1628956758.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,03776,186,80,80,90,FF
2021-08-14T15:59:18.698Z,1628956758.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:19.171Z,1628956759.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 814.380066 m, bearing: 76.021453 deg, deltaT: 5.635326 s, approachRate: 132.993210 m/s, LOS rate: 0.803693 deg/s, posRepo size: 2
2021-08-14T15:59:19.174Z,1628956759.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 814.380066 m,
      bearing: 76.021453 deg,
      approachRate: 132.993210 m/s,
      LOS rate: 0.803693 deg/s,
      cmd update: 2.411079 deg/s,
      cmd heading: 71.492382 deg,
      new cmd heading: 71.492382 deg.

2021-08-14T15:59:21.548Z,1628956761.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:21.925Z,1628956761.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:21.926Z,1628956761.926 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:21.926Z,1628956761.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:21.927Z,1628956761.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:22.325Z,1628956762.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,03776,186,80,80,90,FF
2021-08-14T15:59:22.325Z,1628956762.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:22.325Z,1628956762.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:22.327Z,1628956762.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:22.818Z,1628956762.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:23.217Z,1628956763.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,0071D,186,80,80,43,FF
2021-08-14T15:59:23.218Z,1628956763.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:23.642Z,1628956763.642 [Micromodem](INFO): Nmea in: $SNTTA,0.060979,,,,155924.11*4F

2021-08-14T15:59:23.689Z,1628956763.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 96.368116 deg, deltaT: 4.506157 s, approachRate: -164.801193 m/s, LOS rate: 4.515303 deg/s, posRepo size: 3
2021-08-14T15:59:23.691Z,1628956763.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.760002 m,
      bearing: 96.368116 deg,
      approachRate: -164.801193 m/s,
      LOS rate: 4.515303 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 82.414457 deg,
      new cmd heading: 83.437217 deg.

2021-08-14T15:59:26.106Z,1628956766.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:26.457Z,1628956766.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:26.457Z,1628956766.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:26.458Z,1628956766.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:26.459Z,1628956766.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:26.857Z,1628956766.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,0071D,186,80,80,43,FF
2021-08-14T15:59:26.857Z,1628956766.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:26.857Z,1628956766.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:26.859Z,1628956766.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:27.261Z,1628956767.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:27.673Z,1628956767.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,0074B,187,80,80,82,FF
2021-08-14T15:59:27.673Z,1628956767.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:28.115Z,1628956768.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155928.65*5F

2021-08-14T15:59:28.215Z,1628956768.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.520004 m, bearing: 113.498920 deg, deltaT: 4.444974 s, approachRate: 0.620926 m/s, LOS rate: 3.853972 deg/s, posRepo size: 4
2021-08-14T15:59:28.221Z,1628956768.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.520004 m,
      bearing: 113.498920 deg,
      approachRate: 0.620926 m/s,
      LOS rate: 3.853972 deg/s,
      cmd update: 11.561915 deg/s,
      cmd heading: 135.756811 deg,
      new cmd heading: 142.054315 deg.

2021-08-14T15:59:30.213Z,1628956770.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:30.497Z,1628956770.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:30.497Z,1628956770.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:30.497Z,1628956770.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:30.498Z,1628956770.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:30.893Z,1628956770.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,0074B,187,80,80,82,FF
2021-08-14T15:59:30.893Z,1628956770.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:30.893Z,1628956770.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:30.895Z,1628956770.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:31.305Z,1628956771.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:31.714Z,1628956771.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,00772,186,80,80,7E,FF
2021-08-14T15:59:31.714Z,1628956771.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:32.165Z,1628956772.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155932.68*59

2021-08-14T15:59:32.279Z,1628956772.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 136.859232 deg, deltaT: 4.040971 s, approachRate: 0.579070 m/s, LOS rate: 5.780866 deg/s, posRepo size: 4
2021-08-14T15:59:32.286Z,1628956772.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.860008 m,
      bearing: 136.859232 deg,
      approachRate: 0.579070 m/s,
      LOS rate: 5.780866 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 182.478153 deg,
      new cmd heading: 188.820569 deg.

2021-08-14T15:59:34.253Z,1628956774.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:34.537Z,1628956774.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:34.538Z,1628956774.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:34.538Z,1628956774.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:34.539Z,1628956774.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:34.945Z,1628956774.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,00772,186,80,80,7E,FF
2021-08-14T15:59:34.945Z,1628956774.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:34.945Z,1628956774.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:34.947Z,1628956774.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:35.341Z,1628956775.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:35.743Z,1628956775.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,00777,185,80,80,9C,FF
2021-08-14T15:59:35.743Z,1628956775.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:36.213Z,1628956776.213 [Micromodem](INFO): Nmea in: $SNTTA,0.077786,,,,155936.74*47

2021-08-14T15:59:36.269Z,1628956776.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 108.791888 deg, deltaT: 4.029397 s, approachRate: 0.074452 m/s, LOS rate: -6.965644 deg/s, posRepo size: 4
2021-08-14T15:59:36.271Z,1628956776.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.160004 m,
      bearing: 108.791888 deg,
      approachRate: 0.074452 m/s,
      LOS rate: -6.965644 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 230.826635 deg,
      new cmd heading: 236.930375 deg.

2021-08-14T15:59:38.276Z,1628956778.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:38.569Z,1628956778.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:38.569Z,1628956778.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:38.569Z,1628956778.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:38.570Z,1628956778.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:38.978Z,1628956778.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,00777,185,80,80,9C,FF
2021-08-14T15:59:38.978Z,1628956778.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:38.978Z,1628956778.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:38.980Z,1628956778.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:39.384Z,1628956779.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:39.795Z,1628956779.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,0077E,188,80,80,BA,FF
2021-08-14T15:59:39.799Z,1628956779.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:40.249Z,1628956780.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155940.77*52

2021-08-14T15:59:40.313Z,1628956780.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 177.324033 deg, deltaT: 4.088730 s, approachRate: 0.102721 m/s, LOS rate: 16.761230 deg/s, posRepo size: 4
2021-08-14T15:59:40.314Z,1628956780.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.761230 deg/s. Setting heading cmd to target bearing of 177.324033deg and heading rate command to 0 deg/s.
2021-08-14T15:59:42.653Z,1628956782.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:43.009Z,1628956783.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:43.009Z,1628956783.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:43.009Z,1628956783.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:43.010Z,1628956783.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:43.429Z,1628956783.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,0077E,188,80,80,BA,FF
2021-08-14T15:59:43.429Z,1628956783.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:43.430Z,1628956783.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:43.431Z,1628956783.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:43.825Z,1628956783.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:44.241Z,1628956784.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00777,189,80,80,A2,FF
2021-08-14T15:59:44.241Z,1628956784.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:44.662Z,1628956784.662 [Micromodem](INFO): Nmea in: $SNTTA,0.059741,,,,155945.22*47

2021-08-14T15:59:44.693Z,1628956784.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 234.589349 deg, deltaT: 4.490269 s, approachRate: -0.093535 m/s, LOS rate: 12.753204 deg/s, posRepo size: 4
2021-08-14T15:59:44.693Z,1628956784.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.753204 deg/s. Setting heading cmd to target bearing of 234.589349deg and heading rate command to 0 deg/s.
2021-08-14T15:59:47.108Z,1628956787.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:47.469Z,1628956787.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:47.469Z,1628956787.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:47.469Z,1628956787.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:47.470Z,1628956787.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:47.865Z,1628956787.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00777,189,80,80,A2,FF
2021-08-14T15:59:47.866Z,1628956787.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:47.866Z,1628956787.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:47.867Z,1628956787.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:48.296Z,1628956788.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:48.677Z,1628956788.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C47,000,00760,189,80,80,A2,FF
2021-08-14T15:59:48.678Z,1628956788.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:49.126Z,1628956789.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155949.66*5B

2021-08-14T15:59:49.153Z,1628956789.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.780006 m, bearing: 235.970796 deg, deltaT: 4.379644 s, approachRate: -0.315093 m/s, LOS rate: 0.315424 deg/s, posRepo size: 4
2021-08-14T15:59:49.155Z,1628956789.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.780006 m,
      bearing: 235.970796 deg,
      approachRate: -0.315093 m/s,
      LOS rate: 0.315424 deg/s,
      cmd update: 0.946273 deg/s,
      cmd heading: 234.589349 deg,
      new cmd heading: 234.589349 deg.

2021-08-14T15:59:51.526Z,1628956791.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:51.909Z,1628956791.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:51.910Z,1628956791.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:51.910Z,1628956791.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:51.911Z,1628956791.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:52.329Z,1628956792.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C47,000,00760,189,80,80,A2,FF
2021-08-14T15:59:52.329Z,1628956792.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:52.330Z,1628956792.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:52.331Z,1628956792.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:52.721Z,1628956792.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:53.137Z,1628956793.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,00741,186,80,80,97,FF
2021-08-14T15:59:53.138Z,1628956793.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:53.533Z,1628956793.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155954.12*54

2021-08-14T15:59:53.564Z,1628956793.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 190.923622 deg, deltaT: 4.445795 s, approachRate: -0.418373 m/s, LOS rate: -10.132535 deg/s, posRepo size: 4
2021-08-14T15:59:53.566Z,1628956793.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.920006 m,
      bearing: 190.923622 deg,
      approachRate: -0.418373 m/s,
      LOS rate: -10.132535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.819217 deg,
      new cmd heading: 239.196911 deg.

2021-08-14T15:59:55.974Z,1628956795.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T15:59:56.366Z,1628956796.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T15:59:56.366Z,1628956796.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T15:59:56.367Z,1628956796.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T15:59:56.368Z,1628956796.368 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T15:59:56.757Z,1628956796.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,00741,186,80,80,97,FF
2021-08-14T15:59:56.757Z,1628956796.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T15:59:56.757Z,1628956796.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T15:59:56.759Z,1628956796.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T15:59:57.175Z,1628956797.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T15:59:57.557Z,1628956797.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00719,186,80,80,B3,FF
2021-08-14T15:59:57.557Z,1628956797.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T15:59:58.006Z,1628956798.006 [Micromodem](INFO): Nmea in: $SNTTA,0.076700,,,,155958.55*43

2021-08-14T15:59:58.040Z,1628956798.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 244.676719 deg, deltaT: 4.438461 s, approachRate: -0.540730 m/s, LOS rate: 12.110751 deg/s, posRepo size: 4
2021-08-14T15:59:58.041Z,1628956798.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.110751 deg/s. Setting heading cmd to target bearing of 244.676719deg and heading rate command to 0 deg/s.
2021-08-14T16:00:00.478Z,1628956800.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:00.793Z,1628956800.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:00.793Z,1628956800.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:00.793Z,1628956800.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:00.794Z,1628956800.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:01.193Z,1628956801.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00719,186,80,80,B3,FF
2021-08-14T16:00:01.193Z,1628956801.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:01.193Z,1628956801.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:01.195Z,1628956801.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:01.604Z,1628956801.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:02.002Z,1628956802.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,006EF,187,80,80,AD,FF
2021-08-14T16:00:02.002Z,1628956802.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:02.445Z,1628956802.445 [Micromodem](INFO): Nmea in: $SNTTA,0.085133,,,,160002.98*48

2021-08-14T16:00:02.502Z,1628956802.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 244.123365 deg, deltaT: 4.470802 s, approachRate: -0.563655 m/s, LOS rate: -0.123771 deg/s, posRepo size: 4
2021-08-14T16:00:02.504Z,1628956802.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 244.123365 deg,
      approachRate: -0.563655 m/s,
      LOS rate: -0.123771 deg/s,
      cmd update: -0.371312 deg/s,
      cmd heading: 244.676719 deg,
      new cmd heading: 244.676719 deg.

2021-08-14T16:00:04.858Z,1628956804.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:05.237Z,1628956805.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:05.237Z,1628956805.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:05.238Z,1628956805.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:05.238Z,1628956805.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:05.640Z,1628956805.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,006EF,187,80,80,AD,FF
2021-08-14T16:00:05.641Z,1628956805.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:05.641Z,1628956805.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:05.644Z,1628956805.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:06.045Z,1628956806.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:06.445Z,1628956806.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,006C1,189,80,80,81,FF
2021-08-14T16:00:06.446Z,1628956806.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:06.881Z,1628956806.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160007.43*59

2021-08-14T16:00:06.940Z,1628956806.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.239998 m, bearing: 250.250673 deg, deltaT: 4.455238 s, approachRate: -0.619498 m/s, LOS rate: 1.375304 deg/s, posRepo size: 4
2021-08-14T16:00:06.943Z,1628956806.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.239998 m,
      bearing: 250.250673 deg,
      approachRate: -0.619498 m/s,
      LOS rate: 1.375304 deg/s,
      cmd update: 4.125913 deg/s,
      cmd heading: 243.009978 deg,
      new cmd heading: 242.855997 deg.

2021-08-14T16:00:09.302Z,1628956809.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:09.689Z,1628956809.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:09.689Z,1628956809.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:09.689Z,1628956809.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:09.690Z,1628956809.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:10.104Z,1628956810.104 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,006C1,189,80,80,81,FF
2021-08-14T16:00:10.105Z,1628956810.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:10.105Z,1628956810.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:10.106Z,1628956810.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:10.493Z,1628956810.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:10.889Z,1628956810.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00694,186,80,80,A9,FF
2021-08-14T16:00:10.889Z,1628956810.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:11.313Z,1628956811.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160011.90*50

2021-08-14T16:00:11.355Z,1628956811.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.540001 m, bearing: 247.274213 deg, deltaT: 4.413324 s, approachRate: -0.611783 m/s, LOS rate: -0.674426 deg/s, posRepo size: 4
2021-08-14T16:00:11.358Z,1628956811.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.540001 m,
      bearing: 247.274213 deg,
      approachRate: -0.611783 m/s,
      LOS rate: -0.674426 deg/s,
      cmd update: -2.023277 deg/s,
      cmd heading: 261.235398 deg,
      new cmd heading: 262.956382 deg.

2021-08-14T16:00:13.735Z,1628956813.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:14.132Z,1628956814.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:14.133Z,1628956814.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:14.133Z,1628956814.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:14.135Z,1628956814.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:14.530Z,1628956814.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00694,186,80,80,A9,FF
2021-08-14T16:00:14.530Z,1628956814.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:14.530Z,1628956814.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:14.532Z,1628956814.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:14.948Z,1628956814.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:15.329Z,1628956815.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,00661,186,80,80,A8,FF
2021-08-14T16:00:15.330Z,1628956815.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:15.778Z,1628956815.778 [Micromodem](INFO): Nmea in: $SNTTA,0.060990,,,,160016.32*47

2021-08-14T16:00:15.799Z,1628956815.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.480003 m, bearing: 244.931540 deg, deltaT: 4.447163 s, approachRate: -0.688079 m/s, LOS rate: -0.526779 deg/s, posRepo size: 4
2021-08-14T16:00:15.802Z,1628956815.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.480003 m,
      bearing: 244.931540 deg,
      approachRate: -0.688079 m/s,
      LOS rate: -0.526779 deg/s,
      cmd update: -1.580338 deg/s,
      cmd heading: 252.237349 deg,
      new cmd heading: 251.400027 deg.

2021-08-14T16:00:18.247Z,1628956818.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:18.565Z,1628956818.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:18.565Z,1628956818.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:18.566Z,1628956818.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:18.566Z,1628956818.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:18.978Z,1628956818.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,00661,186,80,80,A8,FF
2021-08-14T16:00:18.978Z,1628956818.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:18.978Z,1628956818.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:18.982Z,1628956818.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:19.377Z,1628956819.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:19.777Z,1628956819.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,00631,185,80,80,75,FF
2021-08-14T16:00:19.778Z,1628956819.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:20.249Z,1628956820.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160020.77*5B

2021-08-14T16:00:20.312Z,1628956820.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 241.789380 deg, deltaT: 4.404927 s, approachRate: -0.653814 m/s, LOS rate: -0.713329 deg/s, posRepo size: 4
2021-08-14T16:00:20.314Z,1628956820.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 241.789380 deg,
      approachRate: -0.653814 m/s,
      LOS rate: -0.713329 deg/s,
      cmd update: -2.139986 deg/s,
      cmd heading: 245.269790 deg,
      new cmd heading: 244.451913 deg.

2021-08-14T16:00:22.310Z,1628956822.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:22.605Z,1628956822.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:22.605Z,1628956822.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:22.605Z,1628956822.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:22.606Z,1628956822.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:23.017Z,1628956823.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,00631,185,80,80,75,FF
2021-08-14T16:00:23.018Z,1628956823.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:23.018Z,1628956823.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:23.019Z,1628956823.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:23.439Z,1628956823.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:23.817Z,1628956823.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00609,186,80,80,76,FF
2021-08-14T16:00:23.817Z,1628956823.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:24.261Z,1628956824.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160024.81*56

2021-08-14T16:00:24.320Z,1628956824.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 243.769779 deg, deltaT: 4.039765 s, approachRate: -0.594095 m/s, LOS rate: 0.490226 deg/s, posRepo size: 4
2021-08-14T16:00:24.322Z,1628956824.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.199997 m,
      bearing: 243.769779 deg,
      approachRate: -0.594095 m/s,
      LOS rate: 0.490226 deg/s,
      cmd update: 1.470679 deg/s,
      cmd heading: 236.624419 deg,
      new cmd heading: 235.585526 deg.

2021-08-14T16:00:26.693Z,1628956826.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:27.064Z,1628956827.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:27.064Z,1628956827.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:27.065Z,1628956827.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:27.067Z,1628956827.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:27.450Z,1628956827.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00609,186,80,80,76,FF
2021-08-14T16:00:27.450Z,1628956827.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:27.450Z,1628956827.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:27.470Z,1628956827.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:27.868Z,1628956827.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:28.261Z,1628956828.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,005D5,183,80,80,9C,FF
2021-08-14T16:00:28.261Z,1628956828.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:28.697Z,1628956828.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160029.26*56

2021-08-14T16:00:28.719Z,1628956828.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 243.507500 deg, deltaT: 4.501375 s, approachRate: -0.693122 m/s, LOS rate: -0.058266 deg/s, posRepo size: 4
2021-08-14T16:00:28.742Z,1628956828.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.079994 m,
      bearing: 243.507500 deg,
      approachRate: -0.693122 m/s,
      LOS rate: -0.058266 deg/s,
      cmd update: -0.174799 deg/s,
      cmd heading: 243.244337 deg,
      new cmd heading: 243.808478 deg.

2021-08-14T16:00:31.165Z,1628956831.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:31.496Z,1628956831.496 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:31.496Z,1628956831.496 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:31.497Z,1628956831.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:31.498Z,1628956831.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:31.897Z,1628956831.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,005D5,183,80,80,9C,FF
2021-08-14T16:00:31.897Z,1628956831.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:31.897Z,1628956831.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:31.899Z,1628956831.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:32.309Z,1628956832.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:32.709Z,1628956832.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00599,184,80,80,A5,FF
2021-08-14T16:00:32.709Z,1628956832.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:33.149Z,1628956833.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160033.69*56

2021-08-14T16:00:33.186Z,1628956833.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.480000 m, bearing: 243.382480 deg, deltaT: 4.395252 s, approachRate: -0.819064 m/s, LOS rate: -0.028444 deg/s, posRepo size: 4
2021-08-14T16:00:33.189Z,1628956833.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.480000 m,
      bearing: 243.382480 deg,
      approachRate: -0.819064 m/s,
      LOS rate: -0.028444 deg/s,
      cmd update: -0.085333 deg/s,
      cmd heading: 242.476067 deg,
      new cmd heading: 242.396442 deg.

2021-08-14T16:00:35.562Z,1628956835.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:35.952Z,1628956835.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:35.952Z,1628956835.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:35.953Z,1628956835.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:35.954Z,1628956835.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:36.349Z,1628956836.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00599,184,80,80,A5,FF
2021-08-14T16:00:36.350Z,1628956836.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:36.350Z,1628956836.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:36.351Z,1628956836.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:36.753Z,1628956836.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:37.153Z,1628956837.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,0056A,184,80,80,84,FF
2021-08-14T16:00:37.154Z,1628956837.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:37.589Z,1628956837.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160038.14*57

2021-08-14T16:00:37.627Z,1628956837.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 244.147243 deg, deltaT: 4.474339 s, approachRate: -0.630261 m/s, LOS rate: 0.170922 deg/s, posRepo size: 4
2021-08-14T16:00:37.631Z,1628956837.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.660000 m,
      bearing: 244.147243 deg,
      approachRate: -0.630261 m/s,
      LOS rate: 0.170922 deg/s,
      cmd update: 0.512766 deg/s,
      cmd heading: 242.094588 deg,
      new cmd heading: 242.058222 deg.

2021-08-14T16:00:39.995Z,1628956839.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:40.381Z,1628956840.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:40.381Z,1628956840.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:40.381Z,1628956840.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:40.382Z,1628956840.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:40.793Z,1628956840.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,0056A,184,80,80,84,FF
2021-08-14T16:00:40.793Z,1628956840.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:40.793Z,1628956840.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:40.795Z,1628956840.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:41.198Z,1628956841.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:41.593Z,1628956841.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,0053A,184,80,80,68,FF
2021-08-14T16:00:41.593Z,1628956841.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:42.031Z,1628956842.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 245.515876 deg, deltaT: 4.429443 s, approachRate: -0.650194 m/s, LOS rate: 0.308985 deg/s, posRepo size: 4
2021-08-14T16:00:42.034Z,1628956842.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.780003 m,
      bearing: 245.515876 deg,
      approachRate: -0.650194 m/s,
      LOS rate: 0.308985 deg/s,
      cmd update: 0.926956 deg/s,
      cmd heading: 244.355251 deg,
      new cmd heading: 244.571327 deg.

2021-08-14T16:00:44.509Z,1628956844.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:44.831Z,1628956844.831 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:44.831Z,1628956844.831 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:44.831Z,1628956844.831 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:44.832Z,1628956844.832 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:45.229Z,1628956845.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,0053A,184,80,80,68,FF
2021-08-14T16:00:45.229Z,1628956845.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:45.229Z,1628956845.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:45.231Z,1628956845.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:45.653Z,1628956845.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:46.045Z,1628956846.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,0050B,186,80,80,89,FF
2021-08-14T16:00:46.046Z,1628956846.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:46.477Z,1628956846.477 [Micromodem](INFO): Nmea in: $SNTTA,0.039872,,,,160047.02*41

2021-08-14T16:00:46.559Z,1628956846.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 245.007410 deg, deltaT: 4.479162 s, approachRate: -0.629583 m/s, LOS rate: -0.113518 deg/s, posRepo size: 4
2021-08-14T16:00:46.559Z,1628956846.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-08-14T16:00:46.566Z,1628956846.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.959999 m,
      bearing: 245.007410 deg,
      approachRate: -0.629583 m/s,
      LOS rate: -0.113518 deg/s,
      cmd update: -0.340555 deg/s,
      cmd heading: 248.521687 deg,
      new cmd heading: 248.942329 deg.

2021-08-14T16:00:46.894Z,1628956846.894 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:00:46.929Z,1628956846.929 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:00:46.929Z,1628956846.929 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:00:46.929Z,1628956846.929 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:00:46.930Z,1628956846.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:00:46.930Z,1628956846.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:00:46.930Z,1628956846.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:00:47.307Z,1628956847.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:00:47.307Z,1628956847.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:00:47.307Z,1628956847.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:00:47.307Z,1628956847.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:00:48.919Z,1628956848.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:49.273Z,1628956849.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:49.273Z,1628956849.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:49.273Z,1628956849.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:49.274Z,1628956849.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:49.673Z,1628956849.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,0050B,186,80,80,89,FF
2021-08-14T16:00:49.673Z,1628956849.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:49.674Z,1628956849.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:49.675Z,1628956849.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:50.116Z,1628956850.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:50.481Z,1628956850.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,004DD,186,80,80,80,FF
2021-08-14T16:00:50.482Z,1628956850.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:50.558Z,1628956850.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:00:50.921Z,1628956850.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160051.46*5F

2021-08-14T16:00:50.955Z,1628956850.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 241.678676 deg, deltaT: 4.441117 s, approachRate: -0.621465 m/s, LOS rate: -0.749526 deg/s, posRepo size: 4
2021-08-14T16:00:50.956Z,1628956850.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.20 m.
2021-08-14T16:00:50.958Z,1628956850.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.200001 m,
      bearing: 241.678676 deg,
      approachRate: -0.621465 m/s,
      LOS rate: -0.749526 deg/s,
      cmd update: -2.248579 deg/s,
      cmd heading: 247.007669 deg,
      new cmd heading: 246.869845 deg.

2021-08-14T16:00:53.338Z,1628956853.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:53.721Z,1628956853.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:53.721Z,1628956853.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:53.722Z,1628956853.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:53.722Z,1628956853.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:54.121Z,1628956854.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,004DD,186,80,80,80,FF
2021-08-14T16:00:54.121Z,1628956854.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:54.121Z,1628956854.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:54.123Z,1628956854.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:54.543Z,1628956854.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:54.925Z,1628956854.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,004B2,186,80,80,85,FF
2021-08-14T16:00:54.925Z,1628956854.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:00:54.970Z,1628956854.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:00:55.374Z,1628956855.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160055.91*51

2021-08-14T16:00:55.395Z,1628956855.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 239.435041 deg, deltaT: 4.411934 s, approachRate: -0.584777 m/s, LOS rate: -0.508538 deg/s, posRepo size: 4
2021-08-14T16:00:55.396Z,1628956855.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m.
2021-08-14T16:00:55.398Z,1628956855.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.620003 m,
      bearing: 239.435041 deg,
      approachRate: -0.584777 m/s,
      LOS rate: -0.508538 deg/s,
      cmd update: -1.525613 deg/s,
      cmd heading: 237.132032 deg,
      new cmd heading: 236.113532 deg.

2021-08-14T16:00:57.796Z,1628956857.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:00:58.209Z,1628956858.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:00:58.209Z,1628956858.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:00:58.209Z,1628956858.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:00:58.210Z,1628956858.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:00:58.573Z,1628956858.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,004B2,186,80,80,85,FF
2021-08-14T16:00:58.573Z,1628956858.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:00:58.574Z,1628956858.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:00:58.575Z,1628956858.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:00:58.981Z,1628956858.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:00:59.790Z,1628956859.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160100.37*5C

2021-08-14T16:01:00.642Z,1628956860.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:02.241Z,1628956862.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,85,FF
2021-08-14T16:01:02.241Z,1628956862.241 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,85,FF
2021-08-14T16:01:02.242Z,1628956862.242 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:01:03.427Z,1628956863.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:03.821Z,1628956863.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:03.821Z,1628956863.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:03.821Z,1628956863.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:03.822Z,1628956863.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:04.229Z,1628956864.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,85,FF
2021-08-14T16:01:04.229Z,1628956864.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:04.230Z,1628956864.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:04.231Z,1628956864.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:04.655Z,1628956864.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:05.049Z,1628956865.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00452,187,80,80,81,FF
2021-08-14T16:01:05.050Z,1628956865.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:05.125Z,1628956865.125 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:05.493Z,1628956865.493 [Micromodem](INFO): Nmea in: $SNTTA,0.109061,,,,160106.02*4D

2021-08-14T16:01:05.515Z,1628956865.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 245.000935 deg, deltaT: 10.154810 s, approachRate: -0.567219 m/s, LOS rate: 0.548104 deg/s, posRepo size: 4
2021-08-14T16:01:05.516Z,1628956865.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.86 m.
2021-08-14T16:01:05.517Z,1628956865.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.86 m.
2021-08-14T16:01:05.517Z,1628956865.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:01:05.519Z,1628956865.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.860003 m,
      bearing: 245.000935 deg,
      approachRate: -0.567219 m/s,
      LOS rate: 0.548104 deg/s,
      cmd update: 1.644313 deg/s,
      cmd heading: 221.602797 deg,
      new cmd heading: 221.001992 deg.

2021-08-14T16:01:07.960Z,1628956867.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:08.286Z,1628956868.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:08.286Z,1628956868.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:08.287Z,1628956868.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:08.287Z,1628956868.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:08.698Z,1628956868.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00452,187,80,80,81,FF
2021-08-14T16:01:08.698Z,1628956868.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:08.698Z,1628956868.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:08.700Z,1628956868.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:09.101Z,1628956869.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:09.509Z,1628956869.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,00427,187,80,80,5D,FF
2021-08-14T16:01:09.510Z,1628956869.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:09.530Z,1628956869.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:09.975Z,1628956869.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160110.49*54

2021-08-14T16:01:10.049Z,1628956870.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 252.544032 deg, deltaT: 4.405206 s, approachRate: -0.585671 m/s, LOS rate: 1.712314 deg/s, posRepo size: 4
2021-08-14T16:01:10.051Z,1628956870.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 252.544032 deg,
      approachRate: -0.585671 m/s,
      LOS rate: 1.712314 deg/s,
      cmd update: 5.136943 deg/s,
      cmd heading: 228.846257 deg,
      new cmd heading: 229.698300 deg.

2021-08-14T16:01:12.394Z,1628956872.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:12.741Z,1628956872.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:12.741Z,1628956872.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:12.741Z,1628956872.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:12.742Z,1628956872.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:13.141Z,1628956873.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,00427,187,80,80,5D,FF
2021-08-14T16:01:13.142Z,1628956873.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:13.142Z,1628956873.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:13.143Z,1628956873.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:13.548Z,1628956873.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:13.947Z,1628956873.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,003FF,186,80,80,68,FF
2021-08-14T16:01:13.947Z,1628956873.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:13.967Z,1628956873.967 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:14.389Z,1628956874.389 [Micromodem](INFO): Nmea in: $SNTTA,,0.043526,,,160114.93*4F

2021-08-14T16:01:14.445Z,1628956874.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 253.809939 deg, deltaT: 4.437193 s, approachRate: -0.540883 m/s, LOS rate: 0.285295 deg/s, posRepo size: 4
2021-08-14T16:01:14.472Z,1628956874.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.880001 m,
      bearing: 253.809939 deg,
      approachRate: -0.540883 m/s,
      LOS rate: 0.285295 deg/s,
      cmd update: 0.855884 deg/s,
      cmd heading: 251.639914 deg,
      new cmd heading: 254.094848 deg.

2021-08-14T16:01:16.837Z,1628956876.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:17.181Z,1628956877.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:17.181Z,1628956877.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:17.182Z,1628956877.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:17.183Z,1628956877.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:17.607Z,1628956877.607 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,003FF,186,80,80,68,FF
2021-08-14T16:01:17.607Z,1628956877.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:17.608Z,1628956877.608 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:17.609Z,1628956877.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:17.984Z,1628956877.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:18.402Z,1628956878.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,003D6,185,80,80,9A,FF
2021-08-14T16:01:18.402Z,1628956878.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:18.484Z,1628956878.484 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:18.812Z,1628956878.812 [Micromodem](INFO): Nmea in: $SNTTA,0.034564,,,,160119.40*4A

2021-08-14T16:01:18.841Z,1628956878.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 248.152575 deg, deltaT: 4.517142 s, approachRate: -0.544592 m/s, LOS rate: -1.252421 deg/s, posRepo size: 4
2021-08-14T16:01:18.843Z,1628956878.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.420002 m,
      bearing: 248.152575 deg,
      approachRate: -0.544592 m/s,
      LOS rate: -1.252421 deg/s,
      cmd update: -3.757263 deg/s,
      cmd heading: 255.498995 deg,
      new cmd heading: 255.810396 deg.

2021-08-14T16:01:21.247Z,1628956881.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:21.630Z,1628956881.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:21.631Z,1628956881.631 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:21.631Z,1628956881.631 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:21.636Z,1628956881.636 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:22.029Z,1628956882.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,003D6,185,80,80,9A,FF
2021-08-14T16:01:22.030Z,1628956882.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:22.030Z,1628956882.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:22.032Z,1628956882.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:22.451Z,1628956882.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:22.837Z,1628956882.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,003AC,186,80,80,86,FF
2021-08-14T16:01:22.838Z,1628956882.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:22.862Z,1628956882.862 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:23.281Z,1628956883.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160123.82*53

2021-08-14T16:01:23.324Z,1628956883.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 249.568910 deg, deltaT: 4.378310 s, approachRate: -0.575566 m/s, LOS rate: 0.323489 deg/s, posRepo size: 4
2021-08-14T16:01:23.326Z,1628956883.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.899998 m,
      bearing: 249.568910 deg,
      approachRate: -0.575566 m/s,
      LOS rate: 0.323489 deg/s,
      cmd update: 0.970467 deg/s,
      cmd heading: 239.017453 deg,
      new cmd heading: 237.348292 deg.

2021-08-14T16:01:25.744Z,1628956885.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:26.069Z,1628956886.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:26.069Z,1628956886.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:26.070Z,1628956886.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:26.070Z,1628956886.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:26.467Z,1628956886.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,003AC,186,80,80,86,FF
2021-08-14T16:01:26.467Z,1628956886.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:26.467Z,1628956886.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:26.470Z,1628956886.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:26.881Z,1628956886.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:27.282Z,1628956887.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00382,183,80,80,8F,FF
2021-08-14T16:01:27.282Z,1628956887.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:27.341Z,1628956887.341 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:27.721Z,1628956887.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160128.26*56

2021-08-14T16:01:27.743Z,1628956887.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 251.352819 deg, deltaT: 4.478732 s, approachRate: -0.562658 m/s, LOS rate: 0.398307 deg/s, posRepo size: 4
2021-08-14T16:01:27.770Z,1628956887.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 251.352819 deg,
      approachRate: -0.562658 m/s,
      LOS rate: 0.398307 deg/s,
      cmd update: 1.194920 deg/s,
      cmd heading: 243.354311 deg,
      new cmd heading: 243.757299 deg.

2021-08-14T16:01:30.198Z,1628956890.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:30.505Z,1628956890.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:30.505Z,1628956890.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:30.505Z,1628956890.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:30.506Z,1628956890.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:30.909Z,1628956890.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00382,183,80,80,8F,FF
2021-08-14T16:01:30.909Z,1628956890.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:30.909Z,1628956890.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:30.911Z,1628956890.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:31.328Z,1628956891.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:31.736Z,1628956891.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00357,186,80,80,A3,FF
2021-08-14T16:01:31.737Z,1628956891.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:31.757Z,1628956891.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:32.194Z,1628956892.194 [Micromodem](INFO): Nmea in: $SNTTA,0.011422,,,,160132.70*44

2021-08-14T16:01:32.275Z,1628956892.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 257.189626 deg, deltaT: 4.416015 s, approachRate: -0.584237 m/s, LOS rate: 1.321736 deg/s, posRepo size: 4
2021-08-14T16:01:32.281Z,1628956892.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 257.189626 deg,
      approachRate: -0.584237 m/s,
      LOS rate: 1.321736 deg/s,
      cmd update: 3.965208 deg/s,
      cmd heading: 248.642391 deg,
      new cmd heading: 249.265419 deg.

2021-08-14T16:01:34.601Z,1628956894.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:34.954Z,1628956894.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:34.954Z,1628956894.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:34.954Z,1628956894.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:34.955Z,1628956894.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:35.363Z,1628956895.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00357,186,80,80,A3,FF
2021-08-14T16:01:35.363Z,1628956895.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:35.363Z,1628956895.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:35.365Z,1628956895.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:35.765Z,1628956895.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:36.192Z,1628956896.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00335,186,80,80,A3,FF
2021-08-14T16:01:36.192Z,1628956896.192 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:36.283Z,1628956896.283 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:36.593Z,1628956896.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160137.16*5B

2021-08-14T16:01:36.645Z,1628956896.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 253.691312 deg, deltaT: 4.525690 s, approachRate: -0.450761 m/s, LOS rate: -0.772990 deg/s, posRepo size: 4
2021-08-14T16:01:36.654Z,1628956896.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 253.691312 deg,
      approachRate: -0.450761 m/s,
      LOS rate: -0.772990 deg/s,
      cmd update: -2.318970 deg/s,
      cmd heading: 266.589261 deg,
      new cmd heading: 268.017450 deg.

2021-08-14T16:01:39.053Z,1628956899.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:39.398Z,1628956899.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:39.398Z,1628956899.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:39.398Z,1628956899.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:39.399Z,1628956899.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:39.829Z,1628956899.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00335,186,80,80,A3,FF
2021-08-14T16:01:39.829Z,1628956899.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:39.829Z,1628956899.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:39.831Z,1628956899.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:40.232Z,1628956900.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:40.605Z,1628956900.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,0030A,184,80,80,B2,FF
2021-08-14T16:01:40.605Z,1628956900.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:40.720Z,1628956900.720 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:41.032Z,1628956901.032 [Micromodem](INFO): Nmea in: $SNTTA,0.028687,,,,160141.62*44

2021-08-14T16:01:41.072Z,1628956901.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 255.707502 deg, deltaT: 4.437488 s, approachRate: -0.581409 m/s, LOS rate: 0.454354 deg/s, posRepo size: 4
2021-08-14T16:01:41.074Z,1628956901.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 255.707502 deg,
      approachRate: -0.581409 m/s,
      LOS rate: 0.454354 deg/s,
      cmd update: 1.363062 deg/s,
      cmd heading: 256.327921 deg,
      new cmd heading: 255.486357 deg.

2021-08-14T16:01:43.467Z,1628956903.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:43.845Z,1628956903.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:43.845Z,1628956903.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:43.845Z,1628956903.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:43.846Z,1628956903.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:44.269Z,1628956904.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,0030A,184,80,80,B2,FF
2021-08-14T16:01:44.269Z,1628956904.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:44.269Z,1628956904.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:44.271Z,1628956904.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:44.666Z,1628956904.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:45.053Z,1628956905.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,002E5,184,80,80,B2,FF
2021-08-14T16:01:45.053Z,1628956905.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:45.104Z,1628956905.104 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:45.479Z,1628956905.479 [Micromodem](INFO): Nmea in: $SNTTA,0.028783,,,,160146.06*44

2021-08-14T16:01:45.505Z,1628956905.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 263.091182 deg, deltaT: 4.384050 s, approachRate: -0.506381 m/s, LOS rate: 1.684214 deg/s, posRepo size: 4
2021-08-14T16:01:45.507Z,1628956905.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 263.091182 deg,
      approachRate: -0.506381 m/s,
      LOS rate: 1.684214 deg/s,
      cmd update: 5.052643 deg/s,
      cmd heading: 262.317165 deg,
      new cmd heading: 262.870940 deg.

2021-08-14T16:01:47.923Z,1628956907.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:48.285Z,1628956908.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:48.285Z,1628956908.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:48.285Z,1628956908.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:48.286Z,1628956908.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:48.701Z,1628956908.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,002E5,184,80,80,B2,FF
2021-08-14T16:01:48.702Z,1628956908.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:48.702Z,1628956908.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:48.704Z,1628956908.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:49.093Z,1628956909.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:49.497Z,1628956909.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,002C7,189,80,80,7B,FF
2021-08-14T16:01:49.498Z,1628956909.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:49.569Z,1628956909.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:49.945Z,1628956909.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160150.50*58

2021-08-14T16:01:49.971Z,1628956909.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 209.652616 deg, deltaT: 4.464985 s, approachRate: -0.403137 m/s, LOS rate: -11.968365 deg/s, posRepo size: 4
2021-08-14T16:01:49.973Z,1628956909.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.968365 deg/s. Setting heading cmd to target bearing of 209.652616deg and heading rate command to 0 deg/s.
2021-08-14T16:01:52.379Z,1628956912.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:52.725Z,1628956912.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:52.725Z,1628956912.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:52.725Z,1628956912.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:52.726Z,1628956912.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:53.129Z,1628956913.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,002C7,189,80,80,7B,FF
2021-08-14T16:01:53.129Z,1628956913.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:53.129Z,1628956913.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:53.131Z,1628956913.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:53.544Z,1628956913.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:53.942Z,1628956913.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,002BF,186,80,80,31,FF
2021-08-14T16:01:53.942Z,1628956913.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:53.975Z,1628956913.975 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:54.381Z,1628956914.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160154.92*52

2021-08-14T16:01:54.441Z,1628956914.441 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T16:01:54.441Z,1628956914.441 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:01:54.442Z,1628956914.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T16:01:54.442Z,1628956914.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:01:54.442Z,1628956914.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T16:01:54.443Z,1628956914.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-14T16:01:54.443Z,1628956914.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T16:01:54.443Z,1628956914.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T16:01:54.443Z,1628956914.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T16:01:54.446Z,1628956914.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 252.777679 deg, deltaT: 4.406619 s, approachRate: -0.108927 m/s, LOS rate: 9.786429 deg/s, posRepo size: 4
2021-08-14T16:01:54.448Z,1628956914.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 252.777679 deg,
      approachRate: -0.108927 m/s,
      LOS rate: 9.786429 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.652616 deg,
      new cmd heading: 209.652616 deg.

2021-08-14T16:01:54.798Z,1628956914.798 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T160154: (41.552319, -70.708603)
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T16:01:54.799Z,1628956914.799 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:01:56.808Z,1628956916.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:01:57.169Z,1628956917.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:01:57.169Z,1628956917.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:01:57.169Z,1628956917.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:01:57.170Z,1628956917.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:01:57.577Z,1628956917.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
170,000,002BF,186,80,80,31,FF
2021-08-14T16:01:57.577Z,1628956917.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:01:57.577Z,1628956917.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:01:57.579Z,1628956917.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:01:57.990Z,1628956917.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:01:58.394Z,1628956918.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,002C5,186,80,80,B7,FF
2021-08-14T16:01:58.395Z,1628956918.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:01:58.489Z,1628956918.489 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:01:58.849Z,1628956918.849 [Micromodem](INFO): Nmea in: $SNTTA,0.056342,,,,160159.37*48

2021-08-14T16:01:58.850Z,1628956918.850 [Micromodem](INFO): Nmea in: *7E

2021-08-14T16:01:58.850Z,1628956918.850 [Micromodem](ERROR): Response from modem failed NMEA checksum: *7E
 expected 0
2021-08-14T16:01:58.871Z,1628956918.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 291.185444 deg, deltaT: 4.513032 s, approachRate: 0.079769 m/s, LOS rate: 8.510413 deg/s, posRepo size: 4
2021-08-14T16:01:58.902Z,1628956918.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 291.185444 deg,
      approachRate: 0.079769 m/s,
      LOS rate: 8.510413 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 263.903753 deg,
      new cmd heading: 268.531817 deg.

2021-08-14T16:02:01.242Z,1628956921.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:01.617Z,1628956921.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:01.617Z,1628956921.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:01.617Z,1628956921.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:01.618Z,1628956921.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:02.017Z,1628956922.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,002C5,186,80,80,B7,FF
2021-08-14T16:02:02.017Z,1628956922.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:02.017Z,1628956922.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:02.019Z,1628956922.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:02.425Z,1628956922.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:02.841Z,1628956922.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,0031C,186,80,80,73,FF
2021-08-14T16:02:02.842Z,1628956922.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:02.930Z,1628956922.930 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:03.265Z,1628956923.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160203.81*51

2021-08-14T16:02:03.287Z,1628956923.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 269.140845 deg, deltaT: 4.440467 s, approachRate: 1.175552 m/s, LOS rate: -4.964478 deg/s, posRepo size: 4
2021-08-14T16:02:03.290Z,1628956923.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 269.140845 deg,
      approachRate: 1.175552 m/s,
      LOS rate: -4.964478 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 317.142534 deg,
      new cmd heading: 321.521934 deg.

2021-08-14T16:02:05.691Z,1628956925.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:06.073Z,1628956926.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:06.074Z,1628956926.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:06.074Z,1628956926.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:06.075Z,1628956926.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:06.465Z,1628956926.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,0031C,186,80,80,73,FF
2021-08-14T16:02:06.466Z,1628956926.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:06.466Z,1628956926.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:06.467Z,1628956926.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:06.877Z,1628956926.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:07.273Z,1628956927.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00322,187,80,80,78,FF
2021-08-14T16:02:07.273Z,1628956927.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:07.336Z,1628956927.336 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:07.717Z,1628956927.717 [Micromodem](INFO): Nmea in: $SNTTA,0.031250,,,,160208.26*4C

2021-08-14T16:02:07.736Z,1628956927.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.619997 m, bearing: 268.749803 deg, deltaT: 4.406471 s, approachRate: 0.081697 m/s, LOS rate: -0.088743 deg/s, posRepo size: 4
2021-08-14T16:02:07.738Z,1628956927.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.619997 m,
      bearing: 268.749803 deg,
      approachRate: 0.081697 m/s,
      LOS rate: -0.088743 deg/s,
      cmd update: -0.266228 deg/s,
      cmd heading: 264.314309 deg,
      new cmd heading: 259.382909 deg.

2021-08-14T16:02:10.194Z,1628956930.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:10.501Z,1628956930.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:10.501Z,1628956930.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:10.501Z,1628956930.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:10.502Z,1628956930.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:10.909Z,1628956930.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00322,187,80,80,78,FF
2021-08-14T16:02:10.909Z,1628956930.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:10.909Z,1628956930.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:10.910Z,1628956930.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:11.313Z,1628956931.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:11.713Z,1628956931.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00353,186,80,80,86,FF
2021-08-14T16:02:11.713Z,1628956931.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:11.776Z,1628956931.776 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:12.173Z,1628956932.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160212.70*5F

2021-08-14T16:02:12.236Z,1628956932.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 277.309669 deg, deltaT: 4.440371 s, approachRate: 0.662107 m/s, LOS rate: 1.927737 deg/s, posRepo size: 4
2021-08-14T16:02:12.238Z,1628956932.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 277.309669 deg,
      approachRate: 0.662107 m/s,
      LOS rate: 1.927737 deg/s,
      cmd update: 5.783210 deg/s,
      cmd heading: 263.138572 deg,
      new cmd heading: 263.006782 deg.

2021-08-14T16:02:14.610Z,1628956934.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:14.957Z,1628956934.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:14.957Z,1628956934.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:14.957Z,1628956934.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:14.958Z,1628956934.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:15.349Z,1628956935.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00353,186,80,80,86,FF
2021-08-14T16:02:15.349Z,1628956935.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:15.349Z,1628956935.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:15.351Z,1628956935.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:15.776Z,1628956935.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:16.193Z,1628956936.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00367,186,80,80,70,FF
2021-08-14T16:02:16.194Z,1628956936.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:16.272Z,1628956936.272 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:16.609Z,1628956936.609 [Micromodem](INFO): Nmea in: $SNTTA,0.029089,,,,160217.14*4C

2021-08-14T16:02:16.635Z,1628956936.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 288.429217 deg, deltaT: 4.495948 s, approachRate: 0.266907 m/s, LOS rate: 2.473238 deg/s, posRepo size: 4
2021-08-14T16:02:16.638Z,1628956936.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 288.429217 deg,
      approachRate: 0.266907 m/s,
      LOS rate: 2.473238 deg/s,
      cmd update: 7.419713 deg/s,
      cmd heading: 289.276289 deg,
      new cmd heading: 291.434913 deg.

2021-08-14T16:02:19.041Z,1628956939.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:19.389Z,1628956939.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:19.389Z,1628956939.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:19.389Z,1628956939.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:19.390Z,1628956939.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:19.801Z,1628956939.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00367,186,80,80,70,FF
2021-08-14T16:02:19.801Z,1628956939.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:19.801Z,1628956939.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:19.803Z,1628956939.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:20.251Z,1628956940.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:20.609Z,1628956940.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00397,186,80,80,85,FF
2021-08-14T16:02:20.610Z,1628956940.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:20.639Z,1628956940.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:21.045Z,1628956941.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160221.59*54

2021-08-14T16:02:21.090Z,1628956941.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 297.525936 deg, deltaT: 4.366772 s, approachRate: 0.659526 m/s, LOS rate: 2.083168 deg/s, posRepo size: 4
2021-08-14T16:02:21.117Z,1628956941.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.639997 m,
      bearing: 297.525936 deg,
      approachRate: 0.659526 m/s,
      LOS rate: 2.083168 deg/s,
      cmd update: 6.249504 deg/s,
      cmd heading: 321.717946 deg,
      new cmd heading: 324.959633 deg.

2021-08-14T16:02:21.430Z,1628956941.430 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:02:23.451Z,1628956943.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:23.842Z,1628956943.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:23.842Z,1628956943.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:23.842Z,1628956943.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:23.843Z,1628956943.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:24.245Z,1628956944.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00397,186,80,80,85,FF
2021-08-14T16:02:24.245Z,1628956944.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:24.245Z,1628956944.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:24.247Z,1628956944.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:24.662Z,1628956944.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:25.085Z,1628956945.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,003CB,183,80,80,93,FF
2021-08-14T16:02:25.085Z,1628956945.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:25.139Z,1628956945.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:25.486Z,1628956945.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160226.04*5B

2021-08-14T16:02:25.508Z,1628956945.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 289.671792 deg, deltaT: 4.500448 s, approachRate: 0.693264 m/s, LOS rate: -1.745192 deg/s, posRepo size: 4
2021-08-14T16:02:25.508Z,1628956945.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.76 m. Rolling out.
2021-08-14T16:02:25.509Z,1628956945.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T16:02:27.911Z,1628956947.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:28.292Z,1628956948.292 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:28.292Z,1628956948.292 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:28.292Z,1628956948.292 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:28.293Z,1628956948.293 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:28.697Z,1628956948.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,003CB,183,80,80,93,FF
2021-08-14T16:02:28.697Z,1628956948.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:28.697Z,1628956948.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:28.699Z,1628956948.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:29.104Z,1628956949.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:29.497Z,1628956949.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,003E0,186,80,80,4A,FF
2021-08-14T16:02:29.498Z,1628956949.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:29.527Z,1628956949.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:29.957Z,1628956949.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160230.49*55

2021-08-14T16:02:29.990Z,1628956949.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 321.678879 deg, deltaT: 4.388189 s, approachRate: 0.287135 m/s, LOS rate: 7.293917 deg/s, posRepo size: 4
2021-08-14T16:02:32.389Z,1628956952.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:32.721Z,1628956952.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:32.721Z,1628956952.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:32.721Z,1628956952.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:32.722Z,1628956952.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:33.137Z,1628956953.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,003E0,186,80,80,4A,FF
2021-08-14T16:02:33.137Z,1628956953.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:33.137Z,1628956953.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:33.139Z,1628956953.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:33.537Z,1628956953.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:33.953Z,1628956953.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,003FD,187,80,80,3F,FF
2021-08-14T16:02:33.954Z,1628956953.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:33.974Z,1628956953.974 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:34.445Z,1628956954.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160234.93*56

2021-08-14T16:02:34.505Z,1628956954.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 339.234377 deg, deltaT: 4.445845 s, approachRate: 0.391377 m/s, LOS rate: 3.948743 deg/s, posRepo size: 4
2021-08-14T16:02:36.474Z,1628956956.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:36.765Z,1628956956.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:36.765Z,1628956956.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:36.765Z,1628956956.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:36.766Z,1628956956.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:37.178Z,1628956957.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,003FD,187,80,80,3F,FF
2021-08-14T16:02:37.178Z,1628956957.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:37.178Z,1628956957.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:37.180Z,1628956957.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:37.576Z,1628956957.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:37.983Z,1628956957.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00418,186,80,80,77,FF
2021-08-14T16:02:37.983Z,1628956957.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:38.003Z,1628956958.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:38.420Z,1628956958.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160238.97*5E

2021-08-14T16:02:38.518Z,1628956958.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 353.431362 deg, deltaT: 4.029345 s, approachRate: 0.402050 m/s, LOS rate: 3.523398 deg/s, posRepo size: 4
2021-08-14T16:02:39.676Z,1628956959.676 [DDM](ERROR): Could not parse whisker state
2021-08-14T16:02:40.511Z,1628956960.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:40.809Z,1628956960.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:40.809Z,1628956960.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:40.809Z,1628956960.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:40.810Z,1628956960.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:41.223Z,1628956961.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00418,186,80,80,77,FF
2021-08-14T16:02:41.223Z,1628956961.223 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:41.223Z,1628956961.223 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:41.225Z,1628956961.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:41.621Z,1628956961.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:42.025Z,1628956962.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E31,000,0042C,186,80,80,81,FF
2021-08-14T16:02:42.025Z,1628956962.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:42.049Z,1628956962.049 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:42.446Z,1628956962.446 [Micromodem](INFO): Nmea in: $SNTTA,0.037086,0.406906,,,160243.01*5A

2021-08-14T16:02:42.507Z,1628956962.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 11.168395 deg, deltaT: 4.045931 s, approachRate: 0.296595 m/s, LOS rate: 4.383919 deg/s, posRepo size: 4
2021-08-14T16:02:44.870Z,1628956964.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:45.245Z,1628956965.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:45.246Z,1628956965.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:45.246Z,1628956965.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:45.247Z,1628956965.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:45.658Z,1628956965.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E31,000,0042C,186,80,80,81,FF
2021-08-14T16:02:45.658Z,1628956965.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:45.658Z,1628956965.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:45.661Z,1628956965.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:46.067Z,1628956966.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:46.481Z,1628956966.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00434,187,80,80,6E,FF
2021-08-14T16:02:46.481Z,1628956966.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:46.559Z,1628956966.559 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:46.903Z,1628956966.903 [Micromodem](INFO): Nmea in: $SNTTA,,0.185826,,,160247.45*47

2021-08-14T16:02:46.924Z,1628956966.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 13.041399 deg, deltaT: 4.510302 s, approachRate: 0.106423 m/s, LOS rate: 0.415272 deg/s, posRepo size: 4
2021-08-14T16:02:49.333Z,1628956969.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:49.697Z,1628956969.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:49.697Z,1628956969.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:49.697Z,1628956969.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:49.698Z,1628956969.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:50.098Z,1628956970.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00434,187,80,80,6E,FF
2021-08-14T16:02:50.098Z,1628956970.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:50.098Z,1628956970.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:50.101Z,1628956970.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:50.508Z,1628956970.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:50.910Z,1628956970.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00450,184,80,80,6F,FF
2021-08-14T16:02:50.911Z,1628956970.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:50.979Z,1628956970.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:51.341Z,1628956971.341 [Micromodem](INFO): Nmea in: $SNTTA,0.047726,,,,160251.89*40

2021-08-14T16:02:51.375Z,1628956971.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 342.327606 deg, deltaT: 4.419754 s, approachRate: 0.380112 m/s, LOS rate: -6.949209 deg/s, posRepo size: 4
2021-08-14T16:02:53.793Z,1628956973.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:54.140Z,1628956974.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:54.141Z,1628956974.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:54.141Z,1628956974.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:54.142Z,1628956974.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:54.545Z,1628956974.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00450,184,80,80,6F,FF
2021-08-14T16:02:54.545Z,1628956974.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:54.545Z,1628956974.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:54.547Z,1628956974.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:54.945Z,1628956974.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:55.345Z,1628956975.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00479,187,80,80,49,FF
2021-08-14T16:02:55.346Z,1628956975.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:55.371Z,1628956975.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:02:55.794Z,1628956975.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160256.34*5F
PROC,0.20.0.39330*7C

2021-08-14T16:02:55.848Z,1628956975.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 8.280669 deg, deltaT: 4.392725 s, approachRate: 0.560017 m/s, LOS rate: 5.908193 deg/s, posRepo size: 4
2021-08-14T16:02:58.283Z,1628956978.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:02:58.585Z,1628956978.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:02:58.585Z,1628956978.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:02:58.585Z,1628956978.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:02:58.586Z,1628956978.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:02:58.988Z,1628956978.988 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00479,187,80,80,49,FF
2021-08-14T16:02:58.988Z,1628956978.988 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:02:58.988Z,1628956978.988 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:02:58.990Z,1628956978.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:02:59.407Z,1628956979.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:02:59.797Z,1628956979.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,0048F,186,80,80,7C,FF
2021-08-14T16:02:59.797Z,1628956979.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:02:59.890Z,1628956979.890 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:03:00.245Z,1628956980.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160300.78*55

2021-08-14T16:03:00.305Z,1628956980.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 355.219807 deg, deltaT: 4.518881 s, approachRate: 0.292108 m/s, LOS rate: -2.890288 deg/s, posRepo size: 4
2021-08-14T16:03:02.680Z,1628956982.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:03.021Z,1628956983.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:03.021Z,1628956983.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:03.021Z,1628956983.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:03.022Z,1628956983.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:03.433Z,1628956983.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,0048F,186,80,80,7C,FF
2021-08-14T16:03:03.434Z,1628956983.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:03.434Z,1628956983.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:03.438Z,1628956983.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:03.837Z,1628956983.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:04.244Z,1628956984.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,004B4,186,80,80,81,FF
2021-08-14T16:03:04.245Z,1628956984.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:04.284Z,1628956984.284 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:03:04.668Z,1628956984.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160305.23*5E

2021-08-14T16:03:04.695Z,1628956984.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 359.788766 deg, deltaT: 4.393842 s, approachRate: 0.505253 m/s, LOS rate: 1.039855 deg/s, posRepo size: 4
2021-08-14T16:03:07.093Z,1628956987.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:07.489Z,1628956987.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:07.489Z,1628956987.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:07.489Z,1628956987.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:07.490Z,1628956987.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:07.865Z,1628956987.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,004B4,186,80,80,81,FF
2021-08-14T16:03:07.865Z,1628956987.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:07.865Z,1628956987.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:07.867Z,1628956987.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:08.281Z,1628956988.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:08.302Z,1628956988.302 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T16:03:08.677Z,1628956988.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB1,000,004DA,186,80,80,79,FF
2021-08-14T16:03:08.677Z,1628956988.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:08.740Z,1628956988.740 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:03:09.128Z,1628956989.128 [Micromodem](INFO): Nmea in: $SNTTA,0.040741,,,,160309.66*4B

2021-08-14T16:03:09.147Z,1628956989.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 0.670257 deg, deltaT: 4.455826 s, approachRate: 0.511689 m/s, LOS rate: 0.197830 deg/s, posRepo size: 4
2021-08-14T16:03:11.539Z,1628956991.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:11.905Z,1628956991.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:11.905Z,1628956991.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:11.905Z,1628956991.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:11.906Z,1628956991.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:12.309Z,1628956992.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB1,000,004DA,186,80,80,79,FF
2021-08-14T16:03:12.309Z,1628956992.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:12.309Z,1628956992.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:12.311Z,1628956992.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:12.345Z,1628956992.345 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T16:03:12.716Z,1628956992.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:13.129Z,1628956993.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00501,187,80,80,62,FF
2021-08-14T16:03:13.129Z,1628956993.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:13.178Z,1628956993.178 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:03:13.557Z,1628956993.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160314.10*5E

2021-08-14T16:03:13.583Z,1628956993.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.360001 m, bearing: 0.841109 deg, deltaT: 4.437632 s, approachRate: 0.527309 m/s, LOS rate: 0.038501 deg/s, posRepo size: 4
2021-08-14T16:03:15.970Z,1628956995.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:16.345Z,1628956996.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:16.345Z,1628956996.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:16.345Z,1628956996.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:16.346Z,1628956996.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:16.753Z,1628956996.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00501,187,80,80,62,FF
2021-08-14T16:03:16.753Z,1628956996.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:16.753Z,1628956996.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:16.755Z,1628956996.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:17.164Z,1628956997.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:17.565Z,1628956997.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,00531,186,80,80,40,FF
2021-08-14T16:03:17.566Z,1628956997.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:17.624Z,1628956997.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:03:18.010Z,1628956998.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160318.55*53

2021-08-14T16:03:18.031Z,1628956998.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.240002 m, bearing: 4.813692 deg, deltaT: 4.446018 s, approachRate: 0.647771 m/s, LOS rate: 0.893515 deg/s, posRepo size: 4
2021-08-14T16:03:18.395Z,1628956998.395 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:03:18.447Z,1628956998.447 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:03:18.447Z,1628956998.447 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:03:18.447Z,1628956998.447 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:03:18.452Z,1628956998.452 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:03:18.452Z,1628956998.452 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:03:18.452Z,1628956998.452 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:03:18.815Z,1628956998.815 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:03:18.815Z,1628956998.815 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:03:18.815Z,1628956998.815 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:03:18.815Z,1628956998.815 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:03:20.491Z,1628957000.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:20.793Z,1628957000.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:20.793Z,1628957000.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:20.794Z,1628957000.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:20.795Z,1628957000.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:21.197Z,1628957001.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,00531,186,80,80,40,FF
2021-08-14T16:03:21.197Z,1628957001.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:21.197Z,1628957001.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:21.199Z,1628957001.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:21.605Z,1628957001.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:22.010Z,1628957002.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,00555,187,80,80,6F,FF
2021-08-14T16:03:22.010Z,1628957002.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:22.461Z,1628957002.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160322.99*5A

2021-08-14T16:03:22.513Z,1628957002.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 358.816666 deg, deltaT: 4.406867 s, approachRate: 0.490144 m/s, LOS rate: -1.360838 deg/s, posRepo size: 4
2021-08-14T16:03:24.857Z,1628957004.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:25.245Z,1628957005.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:25.245Z,1628957005.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:25.245Z,1628957005.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:25.246Z,1628957005.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:25.642Z,1628957005.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,00555,187,80,80,6F,FF
2021-08-14T16:03:25.642Z,1628957005.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:25.642Z,1628957005.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:25.645Z,1628957005.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:26.048Z,1628957006.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:26.481Z,1628957006.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,00584,186,80,80,78,FF
2021-08-14T16:03:26.481Z,1628957006.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:26.894Z,1628957006.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160327.44*5F

2021-08-14T16:03:26.921Z,1628957006.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 355.242893 deg, deltaT: 4.536857 s, approachRate: 0.621575 m/s, LOS rate: -0.787720 deg/s, posRepo size: 4
2021-08-14T16:03:29.305Z,1628957009.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:29.693Z,1628957009.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:29.693Z,1628957009.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:29.693Z,1628957009.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:29.694Z,1628957009.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:30.085Z,1628957010.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,00584,186,80,80,78,FF
2021-08-14T16:03:30.085Z,1628957010.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:30.085Z,1628957010.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:30.087Z,1628957010.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:30.492Z,1628957010.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:30.893Z,1628957010.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,005A6,186,80,80,88,FF
2021-08-14T16:03:30.893Z,1628957010.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:31.333Z,1628957011.333 [Micromodem](INFO): Nmea in: $SNTTA,0.058364,,,,160331.88*4A

2021-08-14T16:03:31.367Z,1628957011.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 351.179504 deg, deltaT: 4.350308 s, approachRate: 0.468933 m/s, LOS rate: -0.934046 deg/s, posRepo size: 4
2021-08-14T16:03:33.773Z,1628957013.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:34.128Z,1628957014.128 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:34.129Z,1628957014.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:34.129Z,1628957014.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:34.131Z,1628957014.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:34.541Z,1628957014.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,005A6,186,80,80,88,FF
2021-08-14T16:03:34.541Z,1628957014.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:34.541Z,1628957014.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:34.543Z,1628957014.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:34.937Z,1628957014.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:35.345Z,1628957015.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,005CF,186,80,80,79,FF
2021-08-14T16:03:35.345Z,1628957015.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:35.773Z,1628957015.773 [Micromodem](INFO): Nmea in: $SNTTA,0.049025,,,,160336.34*4C

2021-08-14T16:03:35.813Z,1628957015.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 330.629459 deg, deltaT: 4.448197 s, approachRate: 0.553033 m/s, LOS rate: -4.619859 deg/s, posRepo size: 4
2021-08-14T16:03:38.270Z,1628957018.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:38.573Z,1628957018.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:38.573Z,1628957018.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:38.573Z,1628957018.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:38.574Z,1628957018.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:38.970Z,1628957018.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,005CF,186,80,80,79,FF
2021-08-14T16:03:38.970Z,1628957018.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:38.970Z,1628957018.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:38.972Z,1628957018.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:39.377Z,1628957019.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:39.777Z,1628957019.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00607,187,80,80,30,FF
2021-08-14T16:03:39.778Z,1628957019.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:40.237Z,1628957020.237 [Micromodem](INFO): Nmea in: $SNTTA,0.058662,,,,160340.76*4E

2021-08-14T16:03:40.301Z,1628957020.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 355.298736 deg, deltaT: 4.461689 s, approachRate: 0.753079 m/s, LOS rate: 5.529134 deg/s, posRepo size: 4
2021-08-14T16:03:42.670Z,1628957022.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:43.009Z,1628957023.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:43.009Z,1628957023.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:43.009Z,1628957023.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:43.010Z,1628957023.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:43.425Z,1628957023.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00607,187,80,80,30,FF
2021-08-14T16:03:43.425Z,1628957023.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:43.426Z,1628957023.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:43.440Z,1628957023.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:43.820Z,1628957023.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:44.229Z,1628957024.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,0062B,185,80,80,4E,FF
2021-08-14T16:03:44.230Z,1628957024.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:44.646Z,1628957024.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160345.23*5A

2021-08-14T16:03:44.693Z,1628957024.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 331.075306 deg, deltaT: 4.473844 s, approachRate: 0.482807 m/s, LOS rate: -5.414456 deg/s, posRepo size: 4
2021-08-14T16:03:47.079Z,1628957027.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:47.485Z,1628957027.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:47.485Z,1628957027.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:47.485Z,1628957027.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:47.486Z,1628957027.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:47.869Z,1628957027.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,0062B,185,80,80,4E,FF
2021-08-14T16:03:47.869Z,1628957027.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:47.869Z,1628957027.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:47.871Z,1628957027.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:48.273Z,1628957028.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:48.674Z,1628957028.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1ED,000,00656,187,80,80,75,FF
2021-08-14T16:03:48.674Z,1628957028.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:49.109Z,1628957029.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160349.66*57

2021-08-14T16:03:49.139Z,1628957029.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 320.136540 deg, deltaT: 4.434372 s, approachRate: 0.581817 m/s, LOS rate: -2.466813 deg/s, posRepo size: 4
2021-08-14T16:03:51.543Z,1628957031.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:51.905Z,1628957031.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:51.905Z,1628957031.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:51.905Z,1628957031.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:51.906Z,1628957031.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:52.317Z,1628957032.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1ED,000,00656,187,80,80,75,FF
2021-08-14T16:03:52.317Z,1628957032.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:52.317Z,1628957032.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:52.319Z,1628957032.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:52.717Z,1628957032.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:53.122Z,1628957033.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,00685,185,80,80,7D,FF
2021-08-14T16:03:53.122Z,1628957033.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:53.557Z,1628957033.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160354.11*5B

2021-08-14T16:03:53.583Z,1628957033.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.640007 m, bearing: 331.174563 deg, deltaT: 4.405384 s, approachRate: 0.640127 m/s, LOS rate: 2.505576 deg/s, posRepo size: 4
2021-08-14T16:03:55.975Z,1628957035.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:03:56.353Z,1628957036.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:03:56.353Z,1628957036.353 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:03:56.353Z,1628957036.353 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:03:56.354Z,1628957036.354 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:03:56.761Z,1628957036.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,00685,185,80,80,7D,FF
2021-08-14T16:03:56.761Z,1628957036.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:03:56.761Z,1628957036.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:03:56.763Z,1628957036.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:03:57.169Z,1628957037.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:03:57.569Z,1628957037.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,006B2,186,80,80,71,FF
2021-08-14T16:03:57.570Z,1628957037.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:03:57.993Z,1628957037.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.339996 m, bearing: 329.881389 deg, deltaT: 4.458235 s, approachRate: 0.605618 m/s, LOS rate: -0.290064 deg/s, posRepo size: 4
2021-08-14T16:04:00.142Z,1628957040.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:00.381Z,1628957040.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:00.381Z,1628957040.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:00.381Z,1628957040.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:00.382Z,1628957040.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:00.801Z,1628957040.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,006B2,186,80,80,71,FF
2021-08-14T16:04:00.801Z,1628957040.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:00.801Z,1628957040.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:00.803Z,1628957040.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:01.192Z,1628957041.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:01.605Z,1628957041.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,006DD,186,80,80,93,FF
2021-08-14T16:04:01.606Z,1628957041.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:02.025Z,1628957042.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160402.60*59

2021-08-14T16:04:02.064Z,1628957042.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.920006 m, bearing: 356.705455 deg, deltaT: 4.082146 s, approachRate: 0.632023 m/s, LOS rate: 6.571070 deg/s, posRepo size: 4
2021-08-14T16:04:04.521Z,1628957044.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:04.850Z,1628957044.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:04.850Z,1628957044.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:04.850Z,1628957044.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:04.851Z,1628957044.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:05.238Z,1628957045.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,006DD,186,80,80,93,FF
2021-08-14T16:04:05.238Z,1628957045.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:05.238Z,1628957045.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:05.240Z,1628957045.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:05.651Z,1628957045.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:06.045Z,1628957046.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,0070C,186,80,80,95,FF
2021-08-14T16:04:06.045Z,1628957046.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:06.485Z,1628957046.485 [Micromodem](INFO): Nmea in: $SNTTA,0.397948,0.397735,,,160407.03*5D

2021-08-14T16:04:06.559Z,1628957046.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 359.171590 deg, deltaT: 4.405938 s, approachRate: 0.640043 m/s, LOS rate: 0.559730 deg/s, posRepo size: 4
2021-08-14T16:04:08.919Z,1628957048.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:09.277Z,1628957049.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:09.277Z,1628957049.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:09.277Z,1628957049.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:09.278Z,1628957049.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:09.686Z,1628957049.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,0070C,186,80,80,95,FF
2021-08-14T16:04:09.687Z,1628957049.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:09.687Z,1628957049.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:09.690Z,1628957049.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:10.084Z,1628957050.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:10.491Z,1628957050.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C0,000,0073C,186,80,80,62,FF
2021-08-14T16:04:10.493Z,1628957050.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:10.933Z,1628957050.933 [Micromodem](INFO): Nmea in: $SNTTA,0.070476,,,,160411.48*4D

2021-08-14T16:04:10.963Z,1628957050.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 322.282695 deg, deltaT: 4.502544 s, approachRate: 0.639639 m/s, LOS rate: -8.192901 deg/s, posRepo size: 4
2021-08-14T16:04:13.338Z,1628957053.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:13.726Z,1628957053.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:13.726Z,1628957053.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:13.726Z,1628957053.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:13.727Z,1628957053.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:14.148Z,1628957054.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C0,000,0073C,186,80,80,62,FF
2021-08-14T16:04:14.149Z,1628957054.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:14.149Z,1628957054.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:14.165Z,1628957054.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:14.529Z,1628957054.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:14.933Z,1628957054.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,0076A,186,80,80,93,FF
2021-08-14T16:04:14.933Z,1628957054.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:15.348Z,1628957055.348 [Micromodem](INFO): Nmea in: $SNTTA,0.057324,,,,160415.96*4F

2021-08-14T16:04:15.438Z,1628957055.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.380005 m, bearing: 1.342362 deg, deltaT: 4.362458 s, approachRate: 0.632671 m/s, LOS rate: 8.953589 deg/s, posRepo size: 4
2021-08-14T16:04:17.819Z,1628957057.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:18.200Z,1628957058.200 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:18.200Z,1628957058.200 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:18.201Z,1628957058.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:18.201Z,1628957058.201 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:18.574Z,1628957058.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,0076A,186,80,80,93,FF
2021-08-14T16:04:18.574Z,1628957058.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:18.574Z,1628957058.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:18.576Z,1628957058.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:18.973Z,1628957058.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:19.377Z,1628957059.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0079C,186,80,80,8A,FF
2021-08-14T16:04:19.377Z,1628957059.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:19.809Z,1628957059.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160420.37*5B

2021-08-14T16:04:19.851Z,1628957059.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.379997 m, bearing: 359.311172 deg, deltaT: 4.511091 s, approachRate: 0.665026 m/s, LOS rate: -0.450263 deg/s, posRepo size: 4
2021-08-14T16:04:22.269Z,1628957062.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:22.605Z,1628957062.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:22.605Z,1628957062.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:22.605Z,1628957062.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:22.606Z,1628957062.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:23.017Z,1628957063.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0079C,186,80,80,8A,FF
2021-08-14T16:04:23.017Z,1628957063.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:23.017Z,1628957063.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:23.019Z,1628957063.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:23.451Z,1628957063.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:23.818Z,1628957063.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,007CD,189,80,80,59,FF
2021-08-14T16:04:23.818Z,1628957063.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:24.269Z,1628957064.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160424.81*52

2021-08-14T16:04:24.345Z,1628957064.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 309.238481 deg, deltaT: 4.373777 s, approachRate: 0.672188 m/s, LOS rate: -11.448387 deg/s, posRepo size: 4
2021-08-14T16:04:26.694Z,1628957066.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:27.061Z,1628957067.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:27.061Z,1628957067.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:27.061Z,1628957067.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:27.062Z,1628957067.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:27.489Z,1628957067.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,007CD,189,80,80,59,FF
2021-08-14T16:04:27.489Z,1628957067.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:27.489Z,1628957067.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:27.491Z,1628957067.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:27.861Z,1628957067.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:28.261Z,1628957068.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,007FE,186,80,80,88,FF
2021-08-14T16:04:28.262Z,1628957068.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:28.695Z,1628957068.695 [Micromodem](INFO): Nmea in: $SNTTA,0.098422,,,,160429.29*46

2021-08-14T16:04:28.739Z,1628957068.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 2.333214 deg, deltaT: 4.486979 s, approachRate: 0.655230 m/s, LOS rate: 11.833071 deg/s, posRepo size: 4
2021-08-14T16:04:31.115Z,1628957071.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:31.503Z,1628957071.503 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:31.503Z,1628957071.503 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:31.504Z,1628957071.504 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:31.505Z,1628957071.505 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:31.897Z,1628957071.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,007FE,186,80,80,88,FF
2021-08-14T16:04:31.897Z,1628957071.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:31.897Z,1628957071.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:31.899Z,1628957071.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:32.308Z,1628957072.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:32.709Z,1628957072.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,0082F,186,80,80,7C,FF
2021-08-14T16:04:32.709Z,1628957072.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:33.141Z,1628957073.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160433.69*52

2021-08-14T16:04:33.159Z,1628957073.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.200005 m, bearing: 4.179239 deg, deltaT: 4.453515 s, approachRate: 0.660153 m/s, LOS rate: 0.414510 deg/s, posRepo size: 4
2021-08-14T16:04:35.570Z,1628957075.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:35.937Z,1628957075.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:35.937Z,1628957075.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:35.937Z,1628957075.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:35.938Z,1628957075.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:36.345Z,1628957076.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,0082F,186,80,80,7C,FF
2021-08-14T16:04:36.345Z,1628957076.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:36.346Z,1628957076.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:36.347Z,1628957076.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:36.777Z,1628957076.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:37.169Z,1628957077.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,0085F,185,80,80,7F,FF
2021-08-14T16:04:37.170Z,1628957077.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:37.605Z,1628957077.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160438.14*53

2021-08-14T16:04:37.667Z,1628957077.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.080009 m, bearing: 2.736303 deg, deltaT: 4.465860 s, approachRate: 0.644894 m/s, LOS rate: -0.323104 deg/s, posRepo size: 4
2021-08-14T16:04:40.162Z,1628957080.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:40.416Z,1628957080.416 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:40.417Z,1628957080.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:40.417Z,1628957080.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:40.419Z,1628957080.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:40.813Z,1628957080.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,0085F,185,80,80,7F,FF
2021-08-14T16:04:40.813Z,1628957080.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:40.813Z,1628957080.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:40.815Z,1628957080.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:41.209Z,1628957081.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:41.613Z,1628957081.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D47,000,00891,189,80,80,3D,FF
2021-08-14T16:04:41.613Z,1628957081.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:42.045Z,1628957082.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160442.61*5C

2021-08-14T16:04:42.077Z,1628957082.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.080002 m, bearing: 21.762789 deg, deltaT: 4.439933 s, approachRate: 0.675684 m/s, LOS rate: 4.285309 deg/s, posRepo size: 4
2021-08-14T16:04:44.527Z,1628957084.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:44.849Z,1628957084.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:44.849Z,1628957084.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:44.849Z,1628957084.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:44.850Z,1628957084.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:45.245Z,1628957085.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D47,000,00891,189,80,80,3D,FF
2021-08-14T16:04:45.245Z,1628957085.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:45.245Z,1628957085.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:45.247Z,1628957085.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:45.651Z,1628957085.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:46.061Z,1628957086.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,008BF,187,80,80,77,FF
2021-08-14T16:04:46.061Z,1628957086.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:46.510Z,1628957086.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160447.04*5A

2021-08-14T16:04:46.579Z,1628957086.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.840004 m, bearing: 9.070034 deg, deltaT: 4.397088 s, approachRate: 0.627689 m/s, LOS rate: -2.886628 deg/s, posRepo size: 4
2021-08-14T16:04:48.918Z,1628957088.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:49.297Z,1628957089.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:49.297Z,1628957089.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:49.297Z,1628957089.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:49.298Z,1628957089.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:49.701Z,1628957089.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,008BF,187,80,80,77,FF
2021-08-14T16:04:49.701Z,1628957089.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:49.701Z,1628957089.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:49.703Z,1628957089.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:50.145Z,1628957090.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:50.509Z,1628957090.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0C,000,008EF,186,80,80,8F,FF
2021-08-14T16:04:50.509Z,1628957090.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:04:50.513Z,1628957090.513 [Micromodem](INFO): Nmea in: $SNTTA,0.078535,0.163454,,,160451.50*51

2021-08-14T16:04:50.953Z,1628957090.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.720001 m, bearing: 11.646658 deg, deltaT: 4.517240 s, approachRate: 0.637557 m/s, LOS rate: 0.570398 deg/s, posRepo size: 4
2021-08-14T16:04:53.358Z,1628957093.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:53.729Z,1628957093.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:53.729Z,1628957093.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:53.729Z,1628957093.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:53.730Z,1628957093.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:54.145Z,1628957094.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0C,000,008EF,186,80,80,8F,FF
2021-08-14T16:04:54.145Z,1628957094.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:54.145Z,1628957094.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:54.152Z,1628957094.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:04:54.549Z,1628957094.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:04:55.366Z,1628957095.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160455.94*50

2021-08-14T16:04:56.230Z,1628957096.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:57.773Z,1628957097.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:04:57.774Z,1628957097.774 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:04:57.774Z,1628957097.774 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:04:58.998Z,1628957098.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:04:59.389Z,1628957099.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:04:59.390Z,1628957099.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:04:59.390Z,1628957099.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:04:59.391Z,1628957099.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:04:59.789Z,1628957099.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:04:59.789Z,1628957099.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:04:59.789Z,1628957099.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:04:59.791Z,1628957099.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:00.232Z,1628957100.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:01.034Z,1628957101.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160501.58*50

2021-08-14T16:05:01.826Z,1628957101.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:03.441Z,1628957103.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:03.441Z,1628957103.441 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:03.442Z,1628957103.442 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:05:04.686Z,1628957104.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:05.086Z,1628957105.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:05.086Z,1628957105.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:05.087Z,1628957105.087 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:05.092Z,1628957105.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:05.477Z,1628957105.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:05.477Z,1628957105.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:05.478Z,1628957105.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:05.479Z,1628957105.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:05.853Z,1628957105.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:06.675Z,1628957106.675 [Micromodem](INFO): Nmea in: $SNTTA,0.235677,,,,160507.27*42

2021-08-14T16:05:07.517Z,1628957107.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:09.081Z,1628957109.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:09.082Z,1628957109.082 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:09.082Z,1628957109.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:05:10.338Z,1628957110.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:10.716Z,1628957110.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:10.717Z,1628957110.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:10.717Z,1628957110.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:10.718Z,1628957110.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:11.101Z,1628957111.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:11.101Z,1628957111.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:11.101Z,1628957111.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:11.103Z,1628957111.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:11.513Z,1628957111.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:12.342Z,1628957112.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160512.90*56

2021-08-14T16:05:13.142Z,1628957113.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:14.749Z,1628957114.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:14.749Z,1628957114.749 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:14.749Z,1628957114.749 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:05:15.970Z,1628957115.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:16.362Z,1628957116.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:16.362Z,1628957116.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:16.362Z,1628957116.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:16.363Z,1628957116.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:16.765Z,1628957116.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:16.765Z,1628957116.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:16.766Z,1628957116.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:16.767Z,1628957116.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:17.164Z,1628957117.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:17.985Z,1628957117.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160518.56*56

2021-08-14T16:05:18.821Z,1628957118.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:20.401Z,1628957120.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:20.401Z,1628957120.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:20.402Z,1628957120.402 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:05:21.654Z,1628957121.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:22.045Z,1628957122.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:22.045Z,1628957122.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:22.045Z,1628957122.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:22.046Z,1628957122.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:22.452Z,1628957122.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8F,FF
2021-08-14T16:05:22.452Z,1628957122.452 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:22.453Z,1628957122.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:22.454Z,1628957122.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:22.848Z,1628957122.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:23.241Z,1628957123.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,00A52,186,80,80,8B,FF
2021-08-14T16:05:23.242Z,1628957123.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:05:23.689Z,1628957123.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160524.25*5D

2021-08-14T16:05:23.723Z,1628957123.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.019997 m, bearing: 5.037694 deg, deltaT: 32.664060 s, approachRate: 0.652093 m/s, LOS rate: -0.202331 deg/s, posRepo size: 4
2021-08-14T16:05:26.087Z,1628957126.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:26.493Z,1628957126.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:26.493Z,1628957126.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:26.493Z,1628957126.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:26.494Z,1628957126.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:26.893Z,1628957126.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,00A52,186,80,80,8B,FF
2021-08-14T16:05:26.893Z,1628957126.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:26.894Z,1628957126.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:26.895Z,1628957126.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:27.277Z,1628957127.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:28.091Z,1628957128.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160528.69*59

2021-08-14T16:05:28.601Z,1628957128.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:30.153Z,1628957130.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,07E5E,186,80,80,82,FF
2021-08-14T16:05:30.154Z,1628957130.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:05:30.579Z,1628957130.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1903.500122 m, bearing: 0.252961 deg, deltaT: 6.955709 s, approachRate: 256.261444 m/s, LOS rate: -0.687886 deg/s, posRepo size: 4
2021-08-14T16:05:30.584Z,1628957130.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1903.50 m. Resuming terminal guidance.
2021-08-14T16:05:30.584Z,1628957130.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:05:32.950Z,1628957132.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:33.341Z,1628957133.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:33.341Z,1628957133.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:33.342Z,1628957133.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:33.343Z,1628957133.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:33.753Z,1628957133.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,07E5E,186,80,80,82,FF
2021-08-14T16:05:33.753Z,1628957133.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:33.753Z,1628957133.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:33.755Z,1628957133.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:34.172Z,1628957134.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:34.553Z,1628957134.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00ACD,186,80,80,A2,FF
2021-08-14T16:05:34.553Z,1628957134.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:05:34.989Z,1628957134.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160535.55*5A

2021-08-14T16:05:35.011Z,1628957135.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.400009 m, bearing: 3.644192 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:05:35.012Z,1628957135.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 3.644192deg and heading rate command to 0 deg/s.
2021-08-14T16:05:37.441Z,1628957137.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:37.785Z,1628957137.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:37.785Z,1628957137.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:37.785Z,1628957137.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:37.786Z,1628957137.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:38.225Z,1628957138.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00ACD,186,80,80,A2,FF
2021-08-14T16:05:38.225Z,1628957138.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:38.225Z,1628957138.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:38.227Z,1628957138.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:38.600Z,1628957138.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:39.015Z,1628957139.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00AFD,186,80,80,94,FF
2021-08-14T16:05:39.016Z,1628957139.016 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:05:39.440Z,1628957139.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160540.02*5A

2021-08-14T16:05:39.489Z,1628957139.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.279999 m, bearing: 5.479655 deg, deltaT: 4.458568 s, approachRate: 0.645945 m/s, LOS rate: 0.411671 deg/s, posRepo size: 2
2021-08-14T16:05:39.491Z,1628957139.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.279999 m,
      bearing: 5.479655 deg,
      approachRate: 0.645945 m/s,
      LOS rate: 0.411671 deg/s,
      cmd update: 1.235013 deg/s,
      cmd heading: 3.644192 deg,
      new cmd heading: 3.644192 deg.

2021-08-14T16:05:42.055Z,1628957142.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:42.341Z,1628957142.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:42.341Z,1628957142.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:42.341Z,1628957142.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:42.342Z,1628957142.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:42.713Z,1628957142.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00AFD,186,80,80,94,FF
2021-08-14T16:05:42.713Z,1628957142.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:42.713Z,1628957142.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:42.715Z,1628957142.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:43.125Z,1628957143.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:43.497Z,1628957143.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,00B30,189,80,80,94,FF
2021-08-14T16:05:43.498Z,1628957143.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:05:43.911Z,1628957143.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160544.51*58

2021-08-14T16:05:43.953Z,1628957143.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.339996 m, bearing: 328.848637 deg, deltaT: 4.527750 s, approachRate: 0.675832 m/s, LOS rate: -8.090333 deg/s, posRepo size: 3
2021-08-14T16:05:43.955Z,1628957143.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.339996 m,
      bearing: 328.848637 deg,
      approachRate: 0.675832 m/s,
      LOS rate: -8.090333 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 9.231149 deg,
      new cmd heading: 9.706463 deg.

2021-08-14T16:05:46.373Z,1628957146.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:46.709Z,1628957146.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:46.709Z,1628957146.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:46.709Z,1628957146.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:46.710Z,1628957146.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:47.113Z,1628957147.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,00B30,189,80,80,94,FF
2021-08-14T16:05:47.113Z,1628957147.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:47.114Z,1628957147.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:47.117Z,1628957147.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:47.524Z,1628957147.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:47.933Z,1628957147.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00B5E,186,80,80,69,FF
2021-08-14T16:05:47.935Z,1628957147.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:05:48.339Z,1628957148.339 [Micromodem](INFO): Nmea in: $SNTTA,0.457365,0.457853,,,160548.91*56

2021-08-14T16:05:48.411Z,1628957148.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.100006 m, bearing: 15.083059 deg, deltaT: 4.422155 s, approachRate: 0.624132 m/s, LOS rate: 10.455177 deg/s, posRepo size: 4
2021-08-14T16:05:48.413Z,1628957148.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.100006 m,
      bearing: 15.083059 deg,
      approachRate: 0.624132 m/s,
      LOS rate: 10.455177 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 316.405934 deg,
      new cmd heading: 311.057522 deg.

2021-08-14T16:05:50.381Z,1628957150.381 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:05:50.784Z,1628957150.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:51.157Z,1628957151.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:51.158Z,1628957151.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:51.158Z,1628957151.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:51.159Z,1628957151.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:51.565Z,1628957151.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00B5E,186,80,80,69,FF
2021-08-14T16:05:51.565Z,1628957151.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:51.565Z,1628957151.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:51.567Z,1628957151.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:51.987Z,1628957151.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:52.377Z,1628957152.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00B84,184,80,80,7D,FF
2021-08-14T16:05:52.378Z,1628957152.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:05:52.814Z,1628957152.814 [Micromodem](INFO): Nmea in: $SNTTA,,0.190660,,,160553.36*49

2021-08-14T16:05:52.847Z,1628957152.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 345.877337 deg, deltaT: 4.515934 s, approachRate: 0.504875 m/s, LOS rate: -6.467259 deg/s, posRepo size: 4
2021-08-14T16:05:52.853Z,1628957152.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.379990 m,
      bearing: 345.877337 deg,
      approachRate: 0.504875 m/s,
      LOS rate: -6.467259 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 10.782616 deg,
      new cmd heading: 14.985292 deg.

2021-08-14T16:05:55.218Z,1628957155.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:55.665Z,1628957155.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:05:55.665Z,1628957155.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:05:55.665Z,1628957155.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:05:55.666Z,1628957155.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:05:56.126Z,1628957156.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00B84,184,80,80,7D,FF
2021-08-14T16:05:56.127Z,1628957156.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:05:56.127Z,1628957156.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:05:56.134Z,1628957156.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:05:56.477Z,1628957156.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:05:57.618Z,1628957157.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160557.93*54

2021-08-14T16:05:58.050Z,1628957158.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:05:59.638Z,1628957159.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,7D,FF
2021-08-14T16:05:59.638Z,1628957159.638 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,7D,FF
2021-08-14T16:05:59.638Z,1628957159.638 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:06:00.874Z,1628957160.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:01.261Z,1628957161.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:01.261Z,1628957161.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:01.261Z,1628957161.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:01.262Z,1628957161.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:01.658Z,1628957161.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,7D,FF
2021-08-14T16:06:01.659Z,1628957161.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:01.659Z,1628957161.659 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:01.662Z,1628957161.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:02.073Z,1628957162.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:02.481Z,1628957162.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00BF3,185,80,80,6B,FF
2021-08-14T16:06:02.482Z,1628957162.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:02.485Z,1628957162.485 [Micromodem](INFO): Nmea in: $SNTTA,0.185761,0.184442,,,160603.45*5E

2021-08-14T16:06:02.927Z,1628957162.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.039993 m, bearing: 316.000942 deg, deltaT: 10.084760 s, approachRate: 0.660403 m/s, LOS rate: -2.962529 deg/s, posRepo size: 4
2021-08-14T16:06:02.929Z,1628957162.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.039993 m,
      bearing: 316.000942 deg,
      approachRate: 0.660403 m/s,
      LOS rate: -2.962529 deg/s,
      cmd update: -8.887587 deg/s,
      cmd heading: 249.663552 deg,
      new cmd heading: 245.613552 deg.

2021-08-14T16:06:05.326Z,1628957165.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:05.705Z,1628957165.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:05.705Z,1628957165.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:05.705Z,1628957165.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:05.706Z,1628957165.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:06.110Z,1628957166.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,00BF3,185,80,80,6B,FF
2021-08-14T16:06:06.110Z,1628957166.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:06.110Z,1628957166.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:06.112Z,1628957166.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:06.512Z,1628957166.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:06.913Z,1628957166.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,00C23,189,80,80,6B,FF
2021-08-14T16:06:06.914Z,1628957166.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:07.345Z,1628957167.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160607.91*50

2021-08-14T16:06:07.384Z,1628957167.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.919998 m, bearing: 347.711598 deg, deltaT: 4.344669 s, approachRate: 0.662882 m/s, LOS rate: 7.298750 deg/s, posRepo size: 4
2021-08-14T16:06:07.392Z,1628957167.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.919998 m,
      bearing: 347.711598 deg,
      approachRate: 0.662882 m/s,
      LOS rate: 7.298750 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 211.047181 deg,
      new cmd heading: 207.229705 deg.

2021-08-14T16:06:09.483Z,1628957169.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:09.765Z,1628957169.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:09.765Z,1628957169.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:09.765Z,1628957169.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:09.766Z,1628957169.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:10.190Z,1628957170.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,00C23,189,80,80,6B,FF
2021-08-14T16:06:10.190Z,1628957170.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:10.190Z,1628957170.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:10.192Z,1628957170.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:10.560Z,1628957170.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:11.357Z,1628957171.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,356,000,00C46,188,80,80,A4,FF
2021-08-14T16:06:11.357Z,1628957171.357 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:11.363Z,1628957171.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160611.99*5F

2021-08-14T16:06:11.799Z,1628957171.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.020004 m, bearing: 252.781613 deg, deltaT: 4.521533 s, approachRate: 0.464446 m/s, LOS rate: -20.995088 deg/s, posRepo size: 4
2021-08-14T16:06:11.800Z,1628957171.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.995088 deg/s. Setting heading cmd to target bearing of 252.781613deg and heading rate command to 0 deg/s.
2021-08-14T16:06:14.274Z,1628957174.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:14.585Z,1628957174.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:14.585Z,1628957174.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:14.585Z,1628957174.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:14.586Z,1628957174.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:14.998Z,1628957174.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
356,000,00C46,188,80,80,A4,FF
2021-08-14T16:06:14.998Z,1628957174.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:14.998Z,1628957174.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:15.000Z,1628957175.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:15.432Z,1628957175.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:15.798Z,1628957175.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,00C68,188,80,80,A4,FF
2021-08-14T16:06:15.798Z,1628957175.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:16.237Z,1628957176.237 [Micromodem](INFO): Nmea in: $SNTTA,0.108834,0.476755,,,160616.79*52

2021-08-14T16:06:16.289Z,1628957176.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.059998 m, bearing: 242.123403 deg, deltaT: 4.363624 s, approachRate: 0.467500 m/s, LOS rate: -2.442513 deg/s, posRepo size: 4
2021-08-14T16:06:16.291Z,1628957176.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.059998 m,
      bearing: 242.123403 deg,
      approachRate: 0.467500 m/s,
      LOS rate: -2.442513 deg/s,
      cmd update: -7.327540 deg/s,
      cmd heading: 252.781613 deg,
      new cmd heading: 252.781613 deg.

2021-08-14T16:06:18.674Z,1628957178.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:19.029Z,1628957179.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:19.029Z,1628957179.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:19.029Z,1628957179.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:19.030Z,1628957179.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:19.468Z,1628957179.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,00C68,188,80,80,A4,FF
2021-08-14T16:06:19.469Z,1628957179.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:19.469Z,1628957179.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:19.470Z,1628957179.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:19.849Z,1628957179.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:20.245Z,1628957180.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,00C68,188,80,80,A4,FF
2021-08-14T16:06:20.246Z,1628957180.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:20.281Z,1628957180.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:06:20.671Z,1628957180.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160621.27*59

2021-08-14T16:06:20.730Z,1628957180.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.059998 m, bearing: 223.321368 deg, deltaT: 4.494921 s, approachRate: 0.000000 m/s, LOS rate: -4.182951 deg/s, posRepo size: 4
2021-08-14T16:06:20.733Z,1628957180.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.059998 m,
      bearing: 223.321368 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.182951 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 219.871830 deg,
      new cmd heading: 216.793376 deg.

2021-08-14T16:06:22.877Z,1628957182.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:23.105Z,1628957183.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:23.105Z,1628957183.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:23.105Z,1628957183.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:23.106Z,1628957183.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:23.517Z,1628957183.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,00C68,188,80,80,A4,FF
2021-08-14T16:06:23.517Z,1628957183.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:23.518Z,1628957183.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:23.519Z,1628957183.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:23.919Z,1628957183.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:24.707Z,1628957184.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160625.31*5A

2021-08-14T16:06:25.542Z,1628957185.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:27.109Z,1628957187.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,A4,FF
2021-08-14T16:06:27.109Z,1628957187.109 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,A4,FF
2021-08-14T16:06:27.109Z,1628957187.109 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:06:28.376Z,1628957188.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:28.721Z,1628957188.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:28.721Z,1628957188.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:28.721Z,1628957188.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:28.722Z,1628957188.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:29.137Z,1628957189.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,A4,FF
2021-08-14T16:06:29.137Z,1628957189.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:29.137Z,1628957189.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:29.139Z,1628957189.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:29.544Z,1628957189.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:29.949Z,1628957189.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00498,189,80,80,73,FF
2021-08-14T16:06:29.949Z,1628957189.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:30.354Z,1628957190.354 [Micromodem](INFO): Nmea in: $SNTTA,0.123065,0.405898,,,160630.93*5D

2021-08-14T16:06:30.393Z,1628957190.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.060001 m, bearing: 154.631972 deg, deltaT: 9.669230 s, approachRate: -12.410502 m/s, LOS rate: -7.103916 deg/s, posRepo size: 4
2021-08-14T16:06:30.393Z,1628957190.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.06 m.
2021-08-14T16:06:30.395Z,1628957190.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.060001 m,
      bearing: 154.631972 deg,
      approachRate: -12.410502 m/s,
      LOS rate: -7.103916 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 103.837874 deg,
      new cmd heading: 98.887538 deg.

2021-08-14T16:06:30.786Z,1628957190.786 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:06:30.841Z,1628957190.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:06:30.842Z,1628957190.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:06:30.842Z,1628957190.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:06:30.842Z,1628957190.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:06:30.843Z,1628957190.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:06:30.843Z,1628957190.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:06:31.205Z,1628957191.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:06:31.205Z,1628957191.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:06:31.205Z,1628957191.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:06:31.205Z,1628957191.205 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:06:32.784Z,1628957192.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:33.178Z,1628957193.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:33.178Z,1628957193.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:33.178Z,1628957193.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:33.179Z,1628957193.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:33.577Z,1628957193.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00498,189,80,80,73,FF
2021-08-14T16:06:33.577Z,1628957193.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:33.577Z,1628957193.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:33.579Z,1628957193.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:34.001Z,1628957194.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:34.810Z,1628957194.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160635.37*5D

2021-08-14T16:06:35.634Z,1628957195.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:37.241Z,1628957197.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,73,FF
2021-08-14T16:06:37.241Z,1628957197.241 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,73,FF
2021-08-14T16:06:37.241Z,1628957197.241 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:06:38.491Z,1628957198.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:38.833Z,1628957198.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:38.833Z,1628957198.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:38.834Z,1628957198.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:38.835Z,1628957198.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:39.248Z,1628957199.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,73,FF
2021-08-14T16:06:39.248Z,1628957199.248 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:39.249Z,1628957199.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:39.250Z,1628957199.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:39.642Z,1628957199.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:40.486Z,1628957200.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160641.04*5E

2021-08-14T16:06:40.498Z,1628957200.498 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T16:06:41.275Z,1628957201.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:42.870Z,1628957202.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,73,FF
2021-08-14T16:06:42.870Z,1628957202.870 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,73,FF
2021-08-14T16:06:42.870Z,1628957202.870 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:06:44.099Z,1628957204.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:44.485Z,1628957204.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:44.485Z,1628957204.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:44.485Z,1628957204.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:44.486Z,1628957204.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:44.889Z,1628957204.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,73,FF
2021-08-14T16:06:44.889Z,1628957204.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:44.889Z,1628957204.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:44.891Z,1628957204.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:45.296Z,1628957205.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:45.709Z,1628957205.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A4,000,00C11,189,80,80,B0,FF
2021-08-14T16:06:45.709Z,1628957205.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:45.741Z,1628957205.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:06:46.141Z,1628957206.141 [Micromodem](INFO): Nmea in: $SNTTA,0.100674,,,,160646.68*49

2021-08-14T16:06:46.207Z,1628957206.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.839996 m, bearing: 139.630609 deg, deltaT: 15.754165 s, approachRate: 7.285692 m/s, LOS rate: -0.952216 deg/s, posRepo size: 4
2021-08-14T16:06:46.218Z,1628957206.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.839996 m,
      bearing: 139.630609 deg,
      approachRate: 7.285692 m/s,
      LOS rate: -0.952216 deg/s,
      cmd update: -2.856647 deg/s,
      cmd heading: 274.750868 deg,
      new cmd heading: 269.105384 deg.

2021-08-14T16:06:46.562Z,1628957206.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:06:46.562Z,1628957206.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:06:46.562Z,1628957206.562 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:06:46.563Z,1628957206.563 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:06:46.563Z,1628957206.563 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:06:46.563Z,1628957206.563 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:06:46.933Z,1628957206.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:06:46.934Z,1628957206.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:06:46.934Z,1628957206.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:06:46.934Z,1628957206.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:06:48.587Z,1628957208.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:48.929Z,1628957208.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:48.929Z,1628957208.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:48.929Z,1628957208.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:48.930Z,1628957208.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:49.492Z,1628957209.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A4,000,00C11,189,80,80,B0,FF
2021-08-14T16:06:49.492Z,1628957209.492 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:49.493Z,1628957209.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:49.494Z,1628957209.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:49.992Z,1628957209.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:50.385Z,1628957210.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BF3,189,80,80,A8,FF
2021-08-14T16:06:50.385Z,1628957210.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:50.467Z,1628957210.467 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T16:06:50.805Z,1628957210.805 [Micromodem](INFO): Nmea in: $SNTTA,0.097021,,,,160651.29*43

2021-08-14T16:06:50.841Z,1628957210.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.039993 m, bearing: 138.541194 deg, deltaT: 4.787135 s, approachRate: -0.376008 m/s, LOS rate: -0.227571 deg/s, posRepo size: 4
2021-08-14T16:06:50.843Z,1628957210.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.039993 m,
      bearing: 138.541194 deg,
      approachRate: -0.376008 m/s,
      LOS rate: -0.227571 deg/s,
      cmd update: -0.682714 deg/s,
      cmd heading: 261.097147 deg,
      new cmd heading: 260.172636 deg.

2021-08-14T16:06:53.202Z,1628957213.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:53.589Z,1628957213.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:53.589Z,1628957213.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:53.589Z,1628957213.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:53.590Z,1628957213.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:54.002Z,1628957214.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BF3,189,80,80,A8,FF
2021-08-14T16:06:54.002Z,1628957214.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:54.003Z,1628957214.003 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:54.004Z,1628957214.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:54.431Z,1628957214.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:54.810Z,1628957214.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,00BDD,189,80,80,94,FF
2021-08-14T16:06:54.810Z,1628957214.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:55.261Z,1628957215.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160655.80*57

2021-08-14T16:06:55.280Z,1628957215.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.720001 m, bearing: 250.774002 deg, deltaT: 4.344026 s, approachRate: -0.303864 m/s, LOS rate: 25.836126 deg/s, posRepo size: 4
2021-08-14T16:06:55.281Z,1628957215.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.836126 deg/s. Setting heading cmd to target bearing of 250.774002deg and heading rate command to 0 deg/s.
2021-08-14T16:06:57.677Z,1628957217.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:06:58.037Z,1628957218.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:06:58.037Z,1628957218.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:06:58.037Z,1628957218.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:06:58.038Z,1628957218.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:06:58.469Z,1628957218.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,00BDD,189,80,80,94,FF
2021-08-14T16:06:58.469Z,1628957218.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:06:58.470Z,1628957218.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:06:58.471Z,1628957218.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:06:58.857Z,1628957218.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:06:59.254Z,1628957219.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BDD,189,80,80,94,FF
2021-08-14T16:06:59.254Z,1628957219.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:06:59.689Z,1628957219.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160700.27*5B

2021-08-14T16:06:59.731Z,1628957219.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.720001 m, bearing: 173.705029 deg, deltaT: 4.408629 s, approachRate: 0.000000 m/s, LOS rate: -17.481393 deg/s, posRepo size: 4
2021-08-14T16:06:59.732Z,1628957219.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.481393 deg/s. Setting heading cmd to target bearing of 173.705029deg and heading rate command to 0 deg/s.
2021-08-14T16:07:02.170Z,1628957222.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:02.489Z,1628957222.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:02.489Z,1628957222.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:02.489Z,1628957222.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:02.490Z,1628957222.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:03.017Z,1628957223.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BDD,189,80,80,94,FF
2021-08-14T16:07:03.017Z,1628957223.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:03.017Z,1628957223.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:03.019Z,1628957223.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:03.324Z,1628957223.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:04.125Z,1628957224.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,00BDD,185,80,80,97,FF
2021-08-14T16:07:04.126Z,1628957224.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:04.525Z,1628957224.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160704.82*50

2021-08-14T16:07:04.591Z,1628957224.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.720001 m, bearing: 239.101045 deg, deltaT: 4.976322 s, approachRate: 0.000000 m/s, LOS rate: 13.141436 deg/s, posRepo size: 4
2021-08-14T16:07:04.592Z,1628957224.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.141436 deg/s. Setting heading cmd to target bearing of 239.101045deg and heading rate command to 0 deg/s.
2021-08-14T16:07:06.951Z,1628957226.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:07.337Z,1628957227.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:07.338Z,1628957227.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:07.338Z,1628957227.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:07.339Z,1628957227.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:07.737Z,1628957227.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,00BDD,185,80,80,97,FF
2021-08-14T16:07:07.737Z,1628957227.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:07.737Z,1628957227.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:07.739Z,1628957227.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:08.184Z,1628957228.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:08.557Z,1628957228.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00BEC,185,80,80,7B,FF
2021-08-14T16:07:08.557Z,1628957228.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:08.985Z,1628957228.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160709.53*51

2021-08-14T16:07:09.032Z,1628957229.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.619995 m, bearing: 244.756523 deg, deltaT: 4.355034 s, approachRate: 0.206656 m/s, LOS rate: 1.298607 deg/s, posRepo size: 4
2021-08-14T16:07:09.034Z,1628957229.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.619995 m,
      bearing: 244.756523 deg,
      approachRate: 0.206656 m/s,
      LOS rate: 1.298607 deg/s,
      cmd update: 3.895822 deg/s,
      cmd heading: 239.101045 deg,
      new cmd heading: 239.101045 deg.

2021-08-14T16:07:11.398Z,1628957231.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:11.785Z,1628957231.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:11.785Z,1628957231.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:11.785Z,1628957231.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:11.785Z,1628957231.785 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:12.225Z,1628957232.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00BEC,185,80,80,7B,FF
2021-08-14T16:07:12.225Z,1628957232.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:12.225Z,1628957232.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:12.227Z,1628957232.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:12.593Z,1628957232.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:12.997Z,1628957232.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EF,000,00BEC,185,80,80,7B,FF
2021-08-14T16:07:12.997Z,1628957232.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:13.430Z,1628957233.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160714.02*59

2021-08-14T16:07:13.494Z,1628957233.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.619995 m, bearing: 178.781445 deg, deltaT: 4.415011 s, approachRate: 0.000000 m/s, LOS rate: -14.943356 deg/s, posRepo size: 4
2021-08-14T16:07:13.495Z,1628957233.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.943356 deg/s. Setting heading cmd to target bearing of 178.781445deg and heading rate command to 0 deg/s.
2021-08-14T16:07:15.844Z,1628957235.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:16.305Z,1628957236.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:16.305Z,1628957236.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:16.305Z,1628957236.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:16.306Z,1628957236.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:16.733Z,1628957236.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EF,000,00BEC,185,80,80,7B,FF
2021-08-14T16:07:16.733Z,1628957236.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:16.733Z,1628957236.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:16.735Z,1628957236.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:17.088Z,1628957237.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:18.274Z,1628957238.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160718.59*5B

2021-08-14T16:07:18.710Z,1628957238.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:20.281Z,1628957240.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,185,80,80,7B,FF
2021-08-14T16:07:20.281Z,1628957240.281 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,185,80,80,7B,FF
2021-08-14T16:07:20.281Z,1628957240.281 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:07:20.299Z,1628957240.299 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T16:07:21.535Z,1628957241.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:21.889Z,1628957241.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:21.889Z,1628957241.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:21.889Z,1628957241.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:21.890Z,1628957241.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:22.305Z,1628957242.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,185,80,80,7B,FF
2021-08-14T16:07:22.305Z,1628957242.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:22.305Z,1628957242.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:22.307Z,1628957242.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:22.780Z,1628957242.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:23.185Z,1628957243.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BF9,189,80,80,95,FF
2021-08-14T16:07:23.186Z,1628957243.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:23.605Z,1628957243.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160724.10*59

2021-08-14T16:07:23.677Z,1628957243.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.399994 m, bearing: 171.791197 deg, deltaT: 10.194819 s, approachRate: 0.076509 m/s, LOS rate: -0.685667 deg/s, posRepo size: 4
2021-08-14T16:07:23.679Z,1628957243.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.399994 m,
      bearing: 171.791197 deg,
      approachRate: 0.076509 m/s,
      LOS rate: -0.685667 deg/s,
      cmd update: -2.057000 deg/s,
      cmd heading: 178.781445 deg,
      new cmd heading: 178.781445 deg.

2021-08-14T16:07:26.063Z,1628957246.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:26.433Z,1628957246.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:26.433Z,1628957246.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:26.433Z,1628957246.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:26.434Z,1628957246.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:26.826Z,1628957246.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BF9,189,80,80,95,FF
2021-08-14T16:07:26.826Z,1628957246.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:26.826Z,1628957246.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:26.828Z,1628957246.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:27.250Z,1628957247.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:27.646Z,1628957247.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00BFA,188,80,80,8C,FF
2021-08-14T16:07:27.646Z,1628957247.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:28.065Z,1628957248.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160728.62*50

2021-08-14T16:07:28.097Z,1628957248.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.460007 m, bearing: 246.481692 deg, deltaT: 4.481735 s, approachRate: 0.013391 m/s, LOS rate: 16.665532 deg/s, posRepo size: 4
2021-08-14T16:07:28.098Z,1628957248.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.665532 deg/s. Setting heading cmd to target bearing of 246.481692deg and heading rate command to 0 deg/s.
2021-08-14T16:07:30.569Z,1628957250.569 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T16:07:30.621Z,1628957250.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:30.877Z,1628957250.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:30.877Z,1628957250.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:30.877Z,1628957250.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:30.878Z,1628957250.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:31.284Z,1628957251.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,00BFA,188,80,80,8C,FF
2021-08-14T16:07:31.285Z,1628957251.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:31.285Z,1628957251.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:31.287Z,1628957251.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:31.707Z,1628957251.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:32.485Z,1628957252.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCC,000,00BEA,189,80,80,7D,FF
2021-08-14T16:07:32.485Z,1628957252.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:32.526Z,1628957252.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160733.14*5B

2021-08-14T16:07:32.923Z,1628957252.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.500000 m, bearing: 237.517124 deg, deltaT: 4.929865 s, approachRate: -0.194733 m/s, LOS rate: -1.818421 deg/s, posRepo size: 4
2021-08-14T16:07:32.926Z,1628957252.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.500000 m,
      bearing: 237.517124 deg,
      approachRate: -0.194733 m/s,
      LOS rate: -1.818421 deg/s,
      cmd update: -5.455262 deg/s,
      cmd heading: 246.481692 deg,
      new cmd heading: 246.481692 deg.

2021-08-14T16:07:35.327Z,1628957255.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:35.717Z,1628957255.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:35.717Z,1628957255.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:35.717Z,1628957255.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:35.718Z,1628957255.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:36.113Z,1628957256.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCC,000,00BEA,189,80,80,7D,FF
2021-08-14T16:07:36.113Z,1628957256.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:36.113Z,1628957256.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:36.115Z,1628957256.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:36.521Z,1628957256.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:36.922Z,1628957256.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BCF,189,80,80,7D,FF
2021-08-14T16:07:36.922Z,1628957256.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:37.350Z,1628957257.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160737.93*50

2021-08-14T16:07:37.366Z,1628957257.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.880005 m, bearing: 131.539198 deg, deltaT: 4.346660 s, approachRate: -0.372699 m/s, LOS rate: -24.381462 deg/s, posRepo size: 4
2021-08-14T16:07:37.367Z,1628957257.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.381462 deg/s. Setting heading cmd to target bearing of 131.539198deg and heading rate command to 0 deg/s.
2021-08-14T16:07:39.782Z,1628957259.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:40.172Z,1628957260.172 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:40.173Z,1628957260.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:40.173Z,1628957260.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:40.175Z,1628957260.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:40.267Z,1628957260.267 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:07:40.565Z,1628957260.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BCF,189,80,80,7D,FF
2021-08-14T16:07:40.565Z,1628957260.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:40.565Z,1628957260.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:40.567Z,1628957260.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:40.968Z,1628957260.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:41.370Z,1628957261.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,00BB9,189,80,80,A3,FF
2021-08-14T16:07:41.370Z,1628957261.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:41.813Z,1628957261.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160742.36*5D

2021-08-14T16:07:41.852Z,1628957261.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.559998 m, bearing: 241.752333 deg, deltaT: 4.415992 s, approachRate: -0.298915 m/s, LOS rate: 24.957730 deg/s, posRepo size: 4
2021-08-14T16:07:41.853Z,1628957261.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.957730 deg/s. Setting heading cmd to target bearing of 241.752333deg and heading rate command to 0 deg/s.
2021-08-14T16:07:43.969Z,1628957263.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:44.285Z,1628957264.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:44.285Z,1628957264.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:44.285Z,1628957264.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:44.286Z,1628957264.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:44.630Z,1628957264.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,00BB9,189,80,80,A3,FF
2021-08-14T16:07:44.630Z,1628957264.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:44.630Z,1628957264.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:44.633Z,1628957264.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:45.031Z,1628957265.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:45.420Z,1628957265.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,00BB3,187,80,80,A3,FF
2021-08-14T16:07:45.422Z,1628957265.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:45.837Z,1628957265.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160746.43*5B

2021-08-14T16:07:45.859Z,1628957265.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.199997 m, bearing: 237.950212 deg, deltaT: 4.106636 s, approachRate: -0.087663 m/s, LOS rate: -0.925848 deg/s, posRepo size: 4
2021-08-14T16:07:45.882Z,1628957265.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.199997 m,
      bearing: 237.950212 deg,
      approachRate: -0.087663 m/s,
      LOS rate: -0.925848 deg/s,
      cmd update: -2.777544 deg/s,
      cmd heading: 241.752333 deg,
      new cmd heading: 241.752333 deg.

2021-08-14T16:07:48.318Z,1628957268.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:48.650Z,1628957268.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:48.650Z,1628957268.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:48.650Z,1628957268.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:48.651Z,1628957268.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:49.053Z,1628957269.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,00BB3,187,80,80,A3,FF
2021-08-14T16:07:49.053Z,1628957269.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:49.053Z,1628957269.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:49.055Z,1628957269.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:49.485Z,1628957269.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:49.854Z,1628957269.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D38,000,00BA0,189,80,80,C2,FF
2021-08-14T16:07:49.854Z,1628957269.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:50.317Z,1628957270.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160750.85*56

2021-08-14T16:07:50.437Z,1628957270.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.059998 m, bearing: 233.258473 deg, deltaT: 4.398221 s, approachRate: -0.259196 m/s, LOS rate: -1.066736 deg/s, posRepo size: 4
2021-08-14T16:07:50.439Z,1628957270.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.059998 m,
      bearing: 233.258473 deg,
      approachRate: -0.259196 m/s,
      LOS rate: -1.066736 deg/s,
      cmd update: -3.200207 deg/s,
      cmd heading: 229.593835 deg,
      new cmd heading: 228.039005 deg.

2021-08-14T16:07:52.725Z,1628957272.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:53.089Z,1628957273.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:53.089Z,1628957273.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:53.089Z,1628957273.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:53.090Z,1628957273.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:53.489Z,1628957273.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D38,000,00BA0,189,80,80,C2,FF
2021-08-14T16:07:53.489Z,1628957273.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:53.489Z,1628957273.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:53.491Z,1628957273.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:53.900Z,1628957273.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:54.305Z,1628957274.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D68,000,00B8B,189,80,80,BF,FF
2021-08-14T16:07:54.306Z,1628957274.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:54.729Z,1628957274.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160755.29*55

2021-08-14T16:07:54.771Z,1628957274.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.800003 m, bearing: 241.945381 deg, deltaT: 4.483281 s, approachRate: -0.281043 m/s, LOS rate: 1.937623 deg/s, posRepo size: 4
2021-08-14T16:07:54.773Z,1628957274.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.800003 m,
      bearing: 241.945381 deg,
      approachRate: -0.281043 m/s,
      LOS rate: 1.937623 deg/s,
      cmd update: 5.812868 deg/s,
      cmd heading: 215.202014 deg,
      new cmd heading: 213.919758 deg.

2021-08-14T16:07:57.211Z,1628957277.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:07:57.621Z,1628957277.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:07:57.621Z,1628957277.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:07:57.621Z,1628957277.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:07:57.622Z,1628957277.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:07:57.961Z,1628957277.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D68,000,00B8B,189,80,80,BF,FF
2021-08-14T16:07:57.961Z,1628957277.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:07:57.961Z,1628957277.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:07:57.963Z,1628957277.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:07:58.381Z,1628957278.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:07:58.756Z,1628957278.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B84,189,80,80,BF,FF
2021-08-14T16:07:58.757Z,1628957278.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:07:59.167Z,1628957279.167 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160759.76*53

2021-08-14T16:07:59.188Z,1628957279.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 160.900870 deg, deltaT: 4.395267 s, approachRate: -0.095560 m/s, LOS rate: -18.439042 deg/s, posRepo size: 4
2021-08-14T16:07:59.189Z,1628957279.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.439042 deg/s. Setting heading cmd to target bearing of 160.900870deg and heading rate command to 0 deg/s.
2021-08-14T16:08:01.593Z,1628957281.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:01.977Z,1628957281.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:01.977Z,1628957281.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:01.978Z,1628957281.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:01.978Z,1628957281.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:02.385Z,1628957282.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00B84,189,80,80,BF,FF
2021-08-14T16:08:02.385Z,1628957282.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:02.385Z,1628957282.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:02.387Z,1628957282.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:02.801Z,1628957282.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:03.610Z,1628957283.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160804.18*5C

2021-08-14T16:08:04.498Z,1628957284.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:06.017Z,1628957286.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,BF,FF
2021-08-14T16:08:06.017Z,1628957286.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,BF,FF
2021-08-14T16:08:06.017Z,1628957286.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:08:07.244Z,1628957287.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:07.646Z,1628957287.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:07.646Z,1628957287.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:07.646Z,1628957287.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:07.647Z,1628957287.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:08.033Z,1628957288.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,BF,FF
2021-08-14T16:08:08.033Z,1628957288.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:08.033Z,1628957288.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:08.035Z,1628957288.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:08.495Z,1628957288.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:08.869Z,1628957288.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B8,000,00B9E,188,80,80,8D,FF
2021-08-14T16:08:08.870Z,1628957288.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:09.297Z,1628957289.297 [Micromodem](INFO): Nmea in: $SNTTA,0.095971,,,,160809.83*4E

2021-08-14T16:08:09.320Z,1628957289.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 186.271334 deg, deltaT: 10.110569 s, approachRate: 0.154295 m/s, LOS rate: 2.509301 deg/s, posRepo size: 4
2021-08-14T16:08:09.322Z,1628957289.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.940002 m,
      bearing: 186.271334 deg,
      approachRate: 0.154295 m/s,
      LOS rate: 2.509301 deg/s,
      cmd update: 7.527904 deg/s,
      cmd heading: 160.900870 deg,
      new cmd heading: 160.900870 deg.

2021-08-14T16:08:11.450Z,1628957291.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:11.733Z,1628957291.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:11.733Z,1628957291.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:11.733Z,1628957291.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:11.734Z,1628957291.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:12.117Z,1628957292.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B8,000,00B9E,188,80,80,8D,FF
2021-08-14T16:08:12.117Z,1628957292.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:12.117Z,1628957292.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:12.119Z,1628957292.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:12.527Z,1628957292.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:13.322Z,1628957293.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160813.91*5B

2021-08-14T16:08:14.172Z,1628957294.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:15.734Z,1628957295.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,188,80,80,8D,FF
2021-08-14T16:08:15.734Z,1628957295.734 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,188,80,80,8D,FF
2021-08-14T16:08:15.734Z,1628957295.734 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:08:16.958Z,1628957296.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:17.355Z,1628957297.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:17.355Z,1628957297.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:17.355Z,1628957297.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:17.356Z,1628957297.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:17.745Z,1628957297.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,188,80,80,8D,FF
2021-08-14T16:08:17.745Z,1628957297.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:17.745Z,1628957297.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:17.747Z,1628957297.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:18.203Z,1628957298.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:18.566Z,1628957298.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,00B9B,189,80,80,9D,FF
2021-08-14T16:08:18.567Z,1628957298.567 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:18.997Z,1628957298.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160819.55*59

2021-08-14T16:08:19.030Z,1628957299.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.760010 m, bearing: 230.074294 deg, deltaT: 9.730802 s, approachRate: -0.018497 m/s, LOS rate: 4.501475 deg/s, posRepo size: 4
2021-08-14T16:08:19.033Z,1628957299.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.760010 m,
      bearing: 230.074294 deg,
      approachRate: -0.018497 m/s,
      LOS rate: 4.501475 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 234.124906 deg,
      new cmd heading: 237.259374 deg.

2021-08-14T16:08:21.462Z,1628957301.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:21.785Z,1628957301.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:21.785Z,1628957301.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:21.785Z,1628957301.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:21.786Z,1628957301.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:22.249Z,1628957302.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,00B9B,189,80,80,9D,FF
2021-08-14T16:08:22.249Z,1628957302.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:22.249Z,1628957302.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:22.251Z,1628957302.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:22.631Z,1628957302.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:23.035Z,1628957303.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B91,189,80,80,9D,FF
2021-08-14T16:08:23.035Z,1628957303.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:23.465Z,1628957303.465 [Micromodem](INFO): Nmea in: $SNTTA,0.095391,,,,160824.05*4B

2021-08-14T16:08:23.507Z,1628957303.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.160004 m, bearing: 149.163108 deg, deltaT: 4.467410 s, approachRate: -0.134307 m/s, LOS rate: -18.111430 deg/s, posRepo size: 4
2021-08-14T16:08:23.513Z,1628957303.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.111430 deg/s. Setting heading cmd to target bearing of 149.163108deg and heading rate command to 0 deg/s.
2021-08-14T16:08:25.880Z,1628957305.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:26.254Z,1628957306.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:26.254Z,1628957306.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:26.254Z,1628957306.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:26.255Z,1628957306.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:26.654Z,1628957306.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00B91,189,80,80,9D,FF
2021-08-14T16:08:26.654Z,1628957306.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:26.654Z,1628957306.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:26.661Z,1628957306.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:27.063Z,1628957307.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:27.899Z,1628957307.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160828.46*59

2021-08-14T16:08:28.737Z,1628957308.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:30.313Z,1628957310.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,9D,FF
2021-08-14T16:08:30.314Z,1628957310.314 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,9D,FF
2021-08-14T16:08:30.314Z,1628957310.314 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:08:31.538Z,1628957311.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:31.910Z,1628957311.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:31.911Z,1628957311.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:31.911Z,1628957311.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:31.932Z,1628957311.932 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:32.313Z,1628957312.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,9D,FF
2021-08-14T16:08:32.313Z,1628957312.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:32.313Z,1628957312.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:32.315Z,1628957312.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:32.742Z,1628957312.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:33.133Z,1628957313.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00BAF,189,80,80,AC,FF
2021-08-14T16:08:33.134Z,1628957313.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:33.572Z,1628957313.572 [Micromodem](INFO): Nmea in: $SNTTA,0.099621,,,,160834.11*4D

2021-08-14T16:08:33.606Z,1628957313.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.960007 m, bearing: 213.845136 deg, deltaT: 10.097641 s, approachRate: 0.178260 m/s, LOS rate: 6.405657 deg/s, posRepo size: 4
2021-08-14T16:08:33.608Z,1628957313.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.960007 m,
      bearing: 213.845136 deg,
      approachRate: 0.178260 m/s,
      LOS rate: 6.405657 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 149.163108 deg,
      new cmd heading: 149.163108 deg.

2021-08-14T16:08:35.996Z,1628957315.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:36.361Z,1628957316.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:36.361Z,1628957316.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:36.361Z,1628957316.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:36.362Z,1628957316.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:36.763Z,1628957316.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00BAF,189,80,80,AC,FF
2021-08-14T16:08:36.763Z,1628957316.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:36.763Z,1628957316.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:36.765Z,1628957316.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:37.173Z,1628957317.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:37.570Z,1628957317.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00BCA,188,80,80,9C,FF
2021-08-14T16:08:37.570Z,1628957317.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:38.073Z,1628957318.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160838.56*59

2021-08-14T16:08:38.090Z,1628957318.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.580002 m, bearing: 211.704500 deg, deltaT: 4.471392 s, approachRate: 0.362302 m/s, LOS rate: -0.478740 deg/s, posRepo size: 4
2021-08-14T16:08:38.092Z,1628957318.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.580002 m,
      bearing: 211.704500 deg,
      approachRate: 0.362302 m/s,
      LOS rate: -0.478740 deg/s,
      cmd update: -1.436221 deg/s,
      cmd heading: 202.758997 deg,
      new cmd heading: 208.138214 deg.

2021-08-14T16:08:40.561Z,1628957320.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:40.854Z,1628957320.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:40.854Z,1628957320.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:40.854Z,1628957320.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:40.855Z,1628957320.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:41.257Z,1628957321.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00BCA,188,80,80,9C,FF
2021-08-14T16:08:41.257Z,1628957321.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:41.257Z,1628957321.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:41.259Z,1628957321.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:41.667Z,1628957321.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:42.069Z,1628957322.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,00BDB,187,80,80,45,FF
2021-08-14T16:08:42.069Z,1628957322.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:42.506Z,1628957322.506 [Micromodem](INFO): Nmea in: $SNTTA,0.100498,,,,160843.05*49

2021-08-14T16:08:42.593Z,1628957322.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.600006 m, bearing: 197.573481 deg, deltaT: 4.432691 s, approachRate: 0.230109 m/s, LOS rate: -3.187910 deg/s, posRepo size: 4
2021-08-14T16:08:42.595Z,1628957322.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.600006 m,
      bearing: 197.573481 deg,
      approachRate: 0.230109 m/s,
      LOS rate: -3.187910 deg/s,
      cmd update: -9.563730 deg/s,
      cmd heading: 196.374467 deg,
      new cmd heading: 195.653698 deg.

2021-08-14T16:08:44.910Z,1628957324.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:45.305Z,1628957325.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:45.305Z,1628957325.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:45.305Z,1628957325.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:45.306Z,1628957325.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:45.697Z,1628957325.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,00BDB,187,80,80,45,FF
2021-08-14T16:08:45.698Z,1628957325.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:45.698Z,1628957325.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:45.700Z,1628957325.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:46.109Z,1628957326.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:46.533Z,1628957326.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,477,000,00BDE,189,80,80,9D,FF
2021-08-14T16:08:46.533Z,1628957326.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:46.953Z,1628957326.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160847.50*57

2021-08-14T16:08:46.976Z,1628957326.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.779999 m, bearing: 149.893474 deg, deltaT: 4.550667 s, approachRate: 0.039553 m/s, LOS rate: -10.477586 deg/s, posRepo size: 4
2021-08-14T16:08:46.978Z,1628957326.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.779999 m,
      bearing: 149.893474 deg,
      approachRate: 0.039553 m/s,
      LOS rate: -10.477586 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.023934 deg,
      new cmd heading: 149.615641 deg.

2021-08-14T16:08:49.376Z,1628957329.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:49.737Z,1628957329.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:49.737Z,1628957329.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:49.737Z,1628957329.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:49.738Z,1628957329.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:50.152Z,1628957330.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
477,000,00BDE,189,80,80,9D,FF
2021-08-14T16:08:50.152Z,1628957330.152 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:50.153Z,1628957330.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:50.175Z,1628957330.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:50.568Z,1628957330.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:50.949Z,1628957330.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BDE,189,80,80,9D,FF
2021-08-14T16:08:50.950Z,1628957330.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:51.502Z,1628957331.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160851.97*5B

2021-08-14T16:08:51.533Z,1628957331.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.779999 m, bearing: 126.413619 deg, deltaT: 4.362019 s, approachRate: 0.000000 m/s, LOS rate: -5.382795 deg/s, posRepo size: 4
2021-08-14T16:08:51.535Z,1628957331.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.779999 m,
      bearing: 126.413619 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.382795 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 100.811620 deg,
      new cmd heading: 94.071100 deg.

2021-08-14T16:08:53.814Z,1628957333.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:54.221Z,1628957334.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:54.221Z,1628957334.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:54.221Z,1628957334.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:54.222Z,1628957334.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:54.585Z,1628957334.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BDE,189,80,80,9D,FF
2021-08-14T16:08:54.585Z,1628957334.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:54.586Z,1628957334.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:54.587Z,1628957334.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:54.988Z,1628957334.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:55.412Z,1628957335.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BC5,18A,80,80,B8,FF
2021-08-14T16:08:55.414Z,1628957335.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:08:55.833Z,1628957335.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160856.39*58

2021-08-14T16:08:55.856Z,1628957335.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.280014 m, bearing: 111.895342 deg, deltaT: 4.501500 s, approachRate: -0.333219 m/s, LOS rate: -3.225209 deg/s, posRepo size: 4
2021-08-14T16:08:55.858Z,1628957335.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.280014 m,
      bearing: 111.895342 deg,
      approachRate: -0.333219 m/s,
      LOS rate: -3.225209 deg/s,
      cmd update: -9.675626 deg/s,
      cmd heading: 46.576202 deg,
      new cmd heading: 42.192962 deg.

2021-08-14T16:08:58.286Z,1628957338.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:08:58.634Z,1628957338.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:08:58.634Z,1628957338.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:08:58.634Z,1628957338.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:08:58.635Z,1628957338.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:08:59.033Z,1628957339.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BC5,18A,80,80,B8,FF
2021-08-14T16:08:59.033Z,1628957339.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:08:59.033Z,1628957339.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:08:59.035Z,1628957339.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:08:59.453Z,1628957339.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:08:59.845Z,1628957339.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B3,000,00BA7,189,80,80,A2,FF
2021-08-14T16:08:59.846Z,1628957339.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:00.289Z,1628957340.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160900.83*5B

2021-08-14T16:09:00.377Z,1628957340.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.479996 m, bearing: 112.822554 deg, deltaT: 4.361638 s, approachRate: -0.412693 m/s, LOS rate: 0.212583 deg/s, posRepo size: 4
2021-08-14T16:09:00.389Z,1628957340.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.479996 m,
      bearing: 112.822554 deg,
      approachRate: -0.412693 m/s,
      LOS rate: 0.212583 deg/s,
      cmd update: 0.637750 deg/s,
      cmd heading: 4.269352 deg,
      new cmd heading: 359.345136 deg.

2021-08-14T16:09:02.713Z,1628957342.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:03.073Z,1628957343.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:03.073Z,1628957343.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:03.073Z,1628957343.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:03.074Z,1628957343.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:03.493Z,1628957343.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B3,000,00BA7,189,80,80,A2,FF
2021-08-14T16:09:03.493Z,1628957343.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:03.493Z,1628957343.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:03.495Z,1628957343.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:03.881Z,1628957343.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:04.354Z,1628957344.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,00B84,188,80,80,CC,FF
2021-08-14T16:09:04.354Z,1628957344.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:04.737Z,1628957344.737 [Micromodem](INFO): Nmea in: $SNTTA,0.095128,,,,160905.29*47

2021-08-14T16:09:04.775Z,1628957344.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 108.354941 deg, deltaT: 4.600689 s, approachRate: -0.456455 m/s, LOS rate: -0.971075 deg/s, posRepo size: 4
2021-08-14T16:09:04.777Z,1628957344.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.379990 m,
      bearing: 108.354941 deg,
      approachRate: -0.456455 m/s,
      LOS rate: -0.971075 deg/s,
      cmd update: -2.913224 deg/s,
      cmd heading: 7.200937 deg,
      new cmd heading: 7.402099 deg.

2021-08-14T16:09:07.139Z,1628957347.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:07.521Z,1628957347.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:07.521Z,1628957347.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:07.522Z,1628957347.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:07.522Z,1628957347.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:07.929Z,1628957347.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,00B84,188,80,80,CC,FF
2021-08-14T16:09:07.929Z,1628957347.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:07.929Z,1628957347.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:07.931Z,1628957347.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:08.333Z,1628957348.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:08.729Z,1628957348.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,00B54,187,80,80,97,FF
2021-08-14T16:09:08.729Z,1628957348.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:09.169Z,1628957349.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160909.73*5D

2021-08-14T16:09:09.185Z,1628957349.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.500000 m, bearing: 107.998104 deg, deltaT: 4.334494 s, approachRate: -0.664435 m/s, LOS rate: -0.082325 deg/s, posRepo size: 4
2021-08-14T16:09:09.187Z,1628957349.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.500000 m,
      bearing: 107.998104 deg,
      approachRate: -0.664435 m/s,
      LOS rate: -0.082325 deg/s,
      cmd update: -0.246974 deg/s,
      cmd heading: 354.573520 deg,
      new cmd heading: 353.435758 deg.

2021-08-14T16:09:11.606Z,1628957351.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:11.957Z,1628957351.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:11.957Z,1628957351.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:11.957Z,1628957351.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:11.958Z,1628957351.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:12.365Z,1628957352.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,00B54,187,80,80,97,FF
2021-08-14T16:09:12.365Z,1628957352.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:12.365Z,1628957352.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:12.367Z,1628957352.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:12.773Z,1628957352.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:13.173Z,1628957353.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00B25,184,80,80,B0,FF
2021-08-14T16:09:13.174Z,1628957353.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:13.605Z,1628957353.605 [Micromodem](INFO): Nmea in: $SNTTA,0.121778,,,,160914.16*46

2021-08-14T16:09:13.672Z,1628957353.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.680008 m, bearing: 112.401568 deg, deltaT: 4.392909 s, approachRate: -0.641942 m/s, LOS rate: 1.002403 deg/s, posRepo size: 4
2021-08-14T16:09:13.674Z,1628957353.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.680008 m,
      bearing: 112.401568 deg,
      approachRate: -0.641942 m/s,
      LOS rate: 1.002403 deg/s,
      cmd update: 3.007208 deg/s,
      cmd heading: 353.487666 deg,
      new cmd heading: 353.369755 deg.

2021-08-14T16:09:16.021Z,1628957356.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:16.407Z,1628957356.407 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:16.408Z,1628957356.408 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:16.409Z,1628957356.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:16.410Z,1628957356.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:16.805Z,1628957356.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00B25,184,80,80,B0,FF
2021-08-14T16:09:16.805Z,1628957356.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:16.805Z,1628957356.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:16.807Z,1628957356.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:17.223Z,1628957357.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:17.701Z,1628957357.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00AF3,186,80,80,A8,FF
2021-08-14T16:09:17.702Z,1628957357.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:18.081Z,1628957358.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160918.60*5F

2021-08-14T16:09:18.114Z,1628957358.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 114.056462 deg, deltaT: 4.537778 s, approachRate: -0.661117 m/s, LOS rate: 0.364692 deg/s, posRepo size: 4
2021-08-14T16:09:18.116Z,1628957358.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 114.056462 deg,
      approachRate: -0.661117 m/s,
      LOS rate: 0.364692 deg/s,
      cmd update: 1.094077 deg/s,
      cmd heading: 7.133858 deg,
      new cmd heading: 8.292879 deg.

2021-08-14T16:09:20.598Z,1628957360.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:20.850Z,1628957360.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:20.850Z,1628957360.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:20.850Z,1628957360.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:20.850Z,1628957360.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:21.245Z,1628957361.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00AF3,186,80,80,A8,FF
2021-08-14T16:09:21.245Z,1628957361.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:21.245Z,1628957361.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:21.247Z,1628957361.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:21.654Z,1628957361.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:22.058Z,1628957362.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,00AC6,18A,80,80,6C,FF
2021-08-14T16:09:22.058Z,1628957362.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:22.505Z,1628957362.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160923.04*55

2021-08-14T16:09:22.630Z,1628957362.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 117.289211 deg, deltaT: 4.399256 s, approachRate: -0.613741 m/s, LOS rate: 0.734840 deg/s, posRepo size: 4
2021-08-14T16:09:22.641Z,1628957362.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 117.289211 deg,
      approachRate: -0.613741 m/s,
      LOS rate: 0.734840 deg/s,
      cmd update: 2.204520 deg/s,
      cmd heading: 11.940537 deg,
      new cmd heading: 12.473264 deg.

2021-08-14T16:09:24.942Z,1628957364.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:25.295Z,1628957365.295 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:25.300Z,1628957365.300 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:25.301Z,1628957365.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:25.304Z,1628957365.304 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:25.701Z,1628957365.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,00AC6,18A,80,80,6C,FF
2021-08-14T16:09:25.701Z,1628957365.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:25.702Z,1628957365.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:25.703Z,1628957365.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:26.108Z,1628957366.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:26.514Z,1628957366.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BDE,000,00A9B,189,80,80,70,FF
2021-08-14T16:09:26.514Z,1628957366.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:26.929Z,1628957366.929 [Micromodem](INFO): Nmea in: $SNTTA,0.088312,,,,160927.52*4C

2021-08-14T16:09:26.957Z,1628957366.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.400002 m, bearing: 125.013540 deg, deltaT: 4.461152 s, approachRate: -0.578326 m/s, LOS rate: 1.731465 deg/s, posRepo size: 4
2021-08-14T16:09:26.959Z,1628957366.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.400002 m,
      bearing: 125.013540 deg,
      approachRate: -0.578326 m/s,
      LOS rate: 1.731465 deg/s,
      cmd update: 5.194396 deg/s,
      cmd heading: 21.770605 deg,
      new cmd heading: 22.600551 deg.

2021-08-14T16:09:29.359Z,1628957369.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:29.737Z,1628957369.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:29.737Z,1628957369.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:29.737Z,1628957369.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:29.738Z,1628957369.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:30.144Z,1628957370.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BDE,000,00A9B,189,80,80,70,FF
2021-08-14T16:09:30.145Z,1628957370.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:30.145Z,1628957370.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:30.151Z,1628957370.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:30.549Z,1628957370.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:30.949Z,1628957370.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C09,000,00A7F,189,80,80,AC,FF
2021-08-14T16:09:30.950Z,1628957370.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:31.485Z,1628957371.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160931.95*5E

2021-08-14T16:09:31.537Z,1628957371.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.720001 m, bearing: 105.880247 deg, deltaT: 4.377383 s, approachRate: -0.383791 m/s, LOS rate: -4.370943 deg/s, posRepo size: 4
2021-08-14T16:09:31.539Z,1628957371.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.720001 m,
      bearing: 105.880247 deg,
      approachRate: -0.383791 m/s,
      LOS rate: -4.370943 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 44.550336 deg,
      new cmd heading: 47.513287 deg.

2021-08-14T16:09:33.809Z,1628957373.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:34.214Z,1628957374.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:34.214Z,1628957374.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:34.214Z,1628957374.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:34.215Z,1628957374.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:34.581Z,1628957374.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C09,000,00A7F,189,80,80,AC,FF
2021-08-14T16:09:34.581Z,1628957374.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:34.581Z,1628957374.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:34.583Z,1628957374.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:34.993Z,1628957374.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:35.393Z,1628957375.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A6D,188,80,80,91,FF
2021-08-14T16:09:35.393Z,1628957375.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:35.837Z,1628957375.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160936.38*5E

2021-08-14T16:09:35.863Z,1628957375.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.640007 m, bearing: 110.708624 deg, deltaT: 4.495599 s, approachRate: -0.240234 m/s, LOS rate: 1.074023 deg/s, posRepo size: 4
2021-08-14T16:09:35.866Z,1628957375.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.640007 m,
      bearing: 110.708624 deg,
      approachRate: -0.240234 m/s,
      LOS rate: 1.074023 deg/s,
      cmd update: 3.222069 deg/s,
      cmd heading: 350.651771 deg,
      new cmd heading: 345.787102 deg.

2021-08-14T16:09:38.290Z,1628957378.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:38.621Z,1628957378.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:38.621Z,1628957378.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:38.621Z,1628957378.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:38.623Z,1628957378.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:39.025Z,1628957379.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A6D,188,80,80,91,FF
2021-08-14T16:09:39.025Z,1628957379.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:39.025Z,1628957379.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:39.027Z,1628957379.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:39.462Z,1628957379.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:39.833Z,1628957379.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00A67,186,80,80,BC,FF
2021-08-14T16:09:39.834Z,1628957379.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:40.273Z,1628957380.273 [Micromodem](INFO): Nmea in: $SNTTA,0.104270,,,,160940.82*40

2021-08-14T16:09:40.368Z,1628957380.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.279999 m, bearing: 57.010855 deg, deltaT: 4.393990 s, approachRate: -0.081932 m/s, LOS rate: -12.220731 deg/s, posRepo size: 4
2021-08-14T16:09:40.369Z,1628957380.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.220731 deg/s. Setting heading cmd to target bearing of 57.010855deg and heading rate command to 0 deg/s.
2021-08-14T16:09:42.693Z,1628957382.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:43.065Z,1628957383.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:43.065Z,1628957383.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:43.065Z,1628957383.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:43.066Z,1628957383.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:43.481Z,1628957383.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00A67,186,80,80,BC,FF
2021-08-14T16:09:43.481Z,1628957383.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:43.481Z,1628957383.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:43.483Z,1628957383.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:43.877Z,1628957383.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:44.286Z,1628957384.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D96,000,00A6D,188,80,80,81,FF
2021-08-14T16:09:44.286Z,1628957384.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:44.801Z,1628957384.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160945.28*5B

2021-08-14T16:09:44.830Z,1628957384.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.640007 m, bearing: 52.245657 deg, deltaT: 4.466972 s, approachRate: 0.080593 m/s, LOS rate: -1.066762 deg/s, posRepo size: 4
2021-08-14T16:09:44.832Z,1628957384.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.640007 m,
      bearing: 52.245657 deg,
      approachRate: 0.080593 m/s,
      LOS rate: -1.066762 deg/s,
      cmd update: -3.200287 deg/s,
      cmd heading: 57.010855 deg,
      new cmd heading: 57.010855 deg.

2021-08-14T16:09:47.134Z,1628957387.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:47.517Z,1628957387.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:47.517Z,1628957387.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:47.517Z,1628957387.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:47.518Z,1628957387.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:47.917Z,1628957387.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D96,000,00A6D,188,80,80,81,FF
2021-08-14T16:09:47.917Z,1628957387.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:47.917Z,1628957387.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:47.919Z,1628957387.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:48.329Z,1628957388.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:48.729Z,1628957388.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00865,189,80,80,5D,FF
2021-08-14T16:09:48.730Z,1628957388.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:48.733Z,1628957388.733 [Micromodem](INFO): Nmea in: $SNTTA,0.063122,0.228359,,,160949.72*5B

2021-08-14T16:09:49.176Z,1628957389.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.440002 m, bearing: 357.997453 deg, deltaT: 4.440366 s, approachRate: -7.026449 m/s, LOS rate: -12.217054 deg/s, posRepo size: 4
2021-08-14T16:09:49.177Z,1628957389.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.217054 deg/s. Setting heading cmd to target bearing of 357.997453deg and heading rate command to 0 deg/s.
2021-08-14T16:09:51.614Z,1628957391.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:51.953Z,1628957391.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:51.953Z,1628957391.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:51.953Z,1628957391.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:51.954Z,1628957391.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:52.369Z,1628957392.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00865,189,80,80,5D,FF
2021-08-14T16:09:52.369Z,1628957392.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:52.370Z,1628957392.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:52.371Z,1628957392.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:52.764Z,1628957392.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:53.177Z,1628957393.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00A75,186,80,80,B6,FF
2021-08-14T16:09:53.178Z,1628957393.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:53.605Z,1628957393.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160954.17*57

2021-08-14T16:09:53.661Z,1628957393.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.119995 m, bearing: 62.279263 deg, deltaT: 4.431175 s, approachRate: 7.149343 m/s, LOS rate: 14.506722 deg/s, posRepo size: 4
2021-08-14T16:09:53.662Z,1628957393.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.506722 deg/s. Setting heading cmd to target bearing of 62.279263deg and heading rate command to 0 deg/s.
2021-08-14T16:09:56.016Z,1628957396.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:09:56.440Z,1628957396.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:09:56.440Z,1628957396.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:09:56.441Z,1628957396.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:09:56.441Z,1628957396.441 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:09:56.806Z,1628957396.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00A75,186,80,80,B6,FF
2021-08-14T16:09:56.806Z,1628957396.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:09:56.806Z,1628957396.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:09:56.808Z,1628957396.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:09:57.232Z,1628957397.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:09:57.693Z,1628957397.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00A72,185,80,80,8E,FF
2021-08-14T16:09:57.694Z,1628957397.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:09:58.073Z,1628957398.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160958.61*5A

2021-08-14T16:09:58.104Z,1628957398.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.940002 m, bearing: 53.938298 deg, deltaT: 4.526665 s, approachRate: -0.039763 m/s, LOS rate: -1.842629 deg/s, posRepo size: 4
2021-08-14T16:09:58.106Z,1628957398.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.940002 m,
      bearing: 53.938298 deg,
      approachRate: -0.039763 m/s,
      LOS rate: -1.842629 deg/s,
      cmd update: -5.527888 deg/s,
      cmd heading: 62.279263 deg,
      new cmd heading: 62.279263 deg.

2021-08-14T16:10:00.529Z,1628957400.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:00.849Z,1628957400.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:00.849Z,1628957400.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:00.849Z,1628957400.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:00.850Z,1628957400.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:01.253Z,1628957401.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00A72,185,80,80,8E,FF
2021-08-14T16:10:01.254Z,1628957401.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:01.254Z,1628957401.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:01.257Z,1628957401.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:01.655Z,1628957401.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:02.057Z,1628957402.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,00A7E,188,80,80,87,FF
2021-08-14T16:10:02.058Z,1628957402.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:02.518Z,1628957402.518 [Micromodem](INFO): Nmea in: $SNTTA,0.085108,,,,161003.05*44

2021-08-14T16:10:02.583Z,1628957402.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.660004 m, bearing: 52.290190 deg, deltaT: 4.399883 s, approachRate: 0.163641 m/s, LOS rate: -0.374580 deg/s, posRepo size: 4
2021-08-14T16:10:02.585Z,1628957402.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.660004 m,
      bearing: 52.290190 deg,
      approachRate: 0.163641 m/s,
      LOS rate: -0.374580 deg/s,
      cmd update: -1.123740 deg/s,
      cmd heading: 38.016264 deg,
      new cmd heading: 35.403270 deg.

2021-08-14T16:10:04.907Z,1628957404.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:05.298Z,1628957405.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:05.298Z,1628957405.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:05.298Z,1628957405.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:05.299Z,1628957405.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:05.701Z,1628957405.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,00A7E,188,80,80,87,FF
2021-08-14T16:10:05.702Z,1628957405.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:05.702Z,1628957405.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:05.703Z,1628957405.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:06.100Z,1628957406.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:06.505Z,1628957406.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,00A81,189,80,80,79,FF
2021-08-14T16:10:06.506Z,1628957406.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:06.954Z,1628957406.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161007.50*5A

2021-08-14T16:10:06.989Z,1628957406.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.840004 m, bearing: 73.930835 deg, deltaT: 4.464540 s, approachRate: 0.040318 m/s, LOS rate: 4.847229 deg/s, posRepo size: 4
2021-08-14T16:10:06.991Z,1628957406.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.840004 m,
      bearing: 73.930835 deg,
      approachRate: 0.040318 m/s,
      LOS rate: 4.847229 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 32.991585 deg,
      new cmd heading: 32.533164 deg.

2021-08-14T16:10:09.350Z,1628957409.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:09.729Z,1628957409.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:09.729Z,1628957409.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:09.729Z,1628957409.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:09.730Z,1628957409.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:10.133Z,1628957410.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,00A81,189,80,80,79,FF
2021-08-14T16:10:10.133Z,1628957410.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:10.133Z,1628957410.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:10.139Z,1628957410.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:10.541Z,1628957410.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:11.029Z,1628957411.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00A80,185,80,80,88,FF
2021-08-14T16:10:11.030Z,1628957411.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:11.397Z,1628957411.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161011.94*55

2021-08-14T16:10:11.455Z,1628957411.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.779999 m, bearing: 64.730850 deg, deltaT: 4.461207 s, approachRate: -0.013450 m/s, LOS rate: -2.062219 deg/s, posRepo size: 4
2021-08-14T16:10:11.458Z,1628957411.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.779999 m,
      bearing: 64.730850 deg,
      approachRate: -0.013450 m/s,
      LOS rate: -2.062219 deg/s,
      cmd update: -6.186656 deg/s,
      cmd heading: 86.576650 deg,
      new cmd heading: 91.478747 deg.

2021-08-14T16:10:13.814Z,1628957413.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:14.210Z,1628957414.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:14.210Z,1628957414.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:14.210Z,1628957414.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:14.211Z,1628957414.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:14.585Z,1628957414.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00A80,185,80,80,88,FF
2021-08-14T16:10:14.585Z,1628957414.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:14.585Z,1628957414.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:14.587Z,1628957414.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:14.989Z,1628957414.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:15.401Z,1628957415.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00A80,188,80,80,92,FF
2021-08-14T16:10:15.402Z,1628957415.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:15.825Z,1628957415.825 [Micromodem](INFO): Nmea in: $SNTTA,0.082111,,,,161016.38*41

2021-08-14T16:10:15.874Z,1628957415.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.779999 m, bearing: 83.511664 deg, deltaT: 4.434491 s, approachRate: 0.000000 m/s, LOS rate: 4.235168 deg/s, posRepo size: 4
2021-08-14T16:10:15.883Z,1628957415.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.779999 m,
      bearing: 83.511664 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.235168 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 59.157049 deg,
      new cmd heading: 56.721746 deg.

2021-08-14T16:10:18.329Z,1628957418.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:18.626Z,1628957418.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:18.626Z,1628957418.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:18.626Z,1628957418.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:18.627Z,1628957418.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:19.021Z,1628957419.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00A80,188,80,80,92,FF
2021-08-14T16:10:19.021Z,1628957419.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:19.021Z,1628957419.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:19.023Z,1628957419.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:19.446Z,1628957419.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:19.833Z,1628957419.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00A71,189,80,80,A1,FF
2021-08-14T16:10:19.834Z,1628957419.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:20.270Z,1628957420.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161020.82*50

2021-08-14T16:10:20.307Z,1628957420.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.879997 m, bearing: 38.580884 deg, deltaT: 4.406805 s, approachRate: -0.204230 m/s, LOS rate: -10.195773 deg/s, posRepo size: 4
2021-08-14T16:10:20.309Z,1628957420.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.879997 m,
      bearing: 38.580884 deg,
      approachRate: -0.204230 m/s,
      LOS rate: -10.195773 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 112.019883 deg,
      new cmd heading: 117.092175 deg.

2021-08-14T16:10:22.702Z,1628957422.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:23.069Z,1628957423.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:23.069Z,1628957423.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:23.069Z,1628957423.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:23.070Z,1628957423.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:23.477Z,1628957423.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00A71,189,80,80,A1,FF
2021-08-14T16:10:23.477Z,1628957423.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:23.477Z,1628957423.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:23.479Z,1628957423.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:23.885Z,1628957423.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:24.341Z,1628957424.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2B,000,00A54,188,80,80,5B,FF
2021-08-14T16:10:24.342Z,1628957424.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:24.741Z,1628957424.741 [Micromodem](INFO): Nmea in: $SNTTA,0.083485,,,,161025.28*49

2021-08-14T16:10:24.802Z,1628957424.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.139999 m, bearing: 130.930300 deg, deltaT: 4.568816 s, approachRate: -0.380842 m/s, LOS rate: 20.212987 deg/s, posRepo size: 4
2021-08-14T16:10:24.803Z,1628957424.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.212987 deg/s. Setting heading cmd to target bearing of 130.930300deg and heading rate command to 0 deg/s.
2021-08-14T16:10:27.139Z,1628957427.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:27.509Z,1628957427.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:27.509Z,1628957427.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:27.509Z,1628957427.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:27.510Z,1628957427.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:27.917Z,1628957427.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2B,000,00A54,188,80,80,5B,FF
2021-08-14T16:10:27.917Z,1628957427.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:27.917Z,1628957427.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:27.919Z,1628957427.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:28.317Z,1628957428.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:28.729Z,1628957428.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9E,000,00A38,189,80,80,A4,FF
2021-08-14T16:10:28.729Z,1628957428.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:29.157Z,1628957429.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161029.72*56

2021-08-14T16:10:29.193Z,1628957429.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.459999 m, bearing: 132.268949 deg, deltaT: 4.336346 s, approachRate: -0.387423 m/s, LOS rate: 0.308704 deg/s, posRepo size: 4
2021-08-14T16:10:29.195Z,1628957429.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.459999 m,
      bearing: 132.268949 deg,
      approachRate: -0.387423 m/s,
      LOS rate: 0.308704 deg/s,
      cmd update: 0.926113 deg/s,
      cmd heading: 130.930300 deg,
      new cmd heading: 130.930300 deg.

2021-08-14T16:10:31.590Z,1628957431.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:31.945Z,1628957431.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:31.945Z,1628957431.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:31.945Z,1628957431.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:31.946Z,1628957431.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:32.361Z,1628957432.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9E,000,00A38,189,80,80,A4,FF
2021-08-14T16:10:32.361Z,1628957432.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:32.361Z,1628957432.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:32.363Z,1628957432.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:32.765Z,1628957432.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:33.166Z,1628957433.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C23,000,00A11,189,80,80,AD,FF
2021-08-14T16:10:33.166Z,1628957433.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:33.605Z,1628957433.605 [Micromodem](INFO): Nmea in: $SNTTA,0.080609,,,,161034.16*41

2021-08-14T16:10:33.665Z,1628957433.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.119995 m, bearing: 136.186828 deg, deltaT: 4.390532 s, approachRate: -0.532966 m/s, LOS rate: 0.892347 deg/s, posRepo size: 4
2021-08-14T16:10:33.667Z,1628957433.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.119995 m,
      bearing: 136.186828 deg,
      approachRate: -0.532966 m/s,
      LOS rate: 0.892347 deg/s,
      cmd update: 2.677041 deg/s,
      cmd heading: 135.004471 deg,
      new cmd heading: 135.445830 deg.

2021-08-14T16:10:36.029Z,1628957436.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:36.401Z,1628957436.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:36.401Z,1628957436.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:36.402Z,1628957436.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:36.403Z,1628957436.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:36.809Z,1628957436.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C23,000,00A11,189,80,80,AD,FF
2021-08-14T16:10:36.809Z,1628957436.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:36.809Z,1628957436.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:36.811Z,1628957436.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:37.219Z,1628957437.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:37.693Z,1628957437.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,009EB,18A,80,80,8A,FF
2021-08-14T16:10:37.693Z,1628957437.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:38.073Z,1628957438.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161038.61*54

2021-08-14T16:10:38.112Z,1628957438.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.839996 m, bearing: 137.024550 deg, deltaT: 4.537265 s, approachRate: -0.502505 m/s, LOS rate: 0.184632 deg/s, posRepo size: 4
2021-08-14T16:10:38.114Z,1628957438.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.839996 m,
      bearing: 137.024550 deg,
      approachRate: -0.502505 m/s,
      LOS rate: 0.184632 deg/s,
      cmd update: 0.553895 deg/s,
      cmd heading: 147.150410 deg,
      new cmd heading: 148.185748 deg.

2021-08-14T16:10:40.557Z,1628957440.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:40.897Z,1628957440.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:40.897Z,1628957440.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:40.897Z,1628957440.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:40.898Z,1628957440.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:41.297Z,1628957441.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,009EB,18A,80,80,8A,FF
2021-08-14T16:10:41.297Z,1628957441.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:41.297Z,1628957441.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:41.299Z,1628957441.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:41.717Z,1628957441.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:42.109Z,1628957442.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,009BE,187,80,80,A5,FF
2021-08-14T16:10:42.109Z,1628957442.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:42.553Z,1628957442.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161043.10*5E

2021-08-14T16:10:42.627Z,1628957442.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.140007 m, bearing: 145.002225 deg, deltaT: 4.486283 s, approachRate: -0.601832 m/s, LOS rate: 1.778237 deg/s, posRepo size: 4
2021-08-14T16:10:42.640Z,1628957442.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.140007 m,
      bearing: 145.002225 deg,
      approachRate: -0.601832 m/s,
      LOS rate: 1.778237 deg/s,
      cmd update: 5.334711 deg/s,
      cmd heading: 149.635130 deg,
      new cmd heading: 149.863724 deg.

2021-08-14T16:10:44.961Z,1628957444.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:45.339Z,1628957445.339 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:45.341Z,1628957445.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:45.342Z,1628957445.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:45.367Z,1628957445.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:45.372Z,1628957445.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,009BE,187,80,80,A5,FF
2021-08-14T16:10:45.372Z,1628957445.372 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:45.372Z,1628957445.372 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:45.377Z,1628957445.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:45.808Z,1628957445.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:46.205Z,1628957446.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,00994,183,80,80,BB,FF
2021-08-14T16:10:46.206Z,1628957446.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:46.613Z,1628957446.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161047.18*52

2021-08-14T16:10:46.667Z,1628957446.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 138.048314 deg, deltaT: 4.035979 s, approachRate: -0.624385 m/s, LOS rate: -1.722980 deg/s, posRepo size: 4
2021-08-14T16:10:46.670Z,1628957446.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.620003 m,
      bearing: 138.048314 deg,
      approachRate: -0.624385 m/s,
      LOS rate: -1.722980 deg/s,
      cmd update: -5.168940 deg/s,
      cmd heading: 171.168792 deg,
      new cmd heading: 173.430923 deg.

2021-08-14T16:10:49.043Z,1628957449.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:49.412Z,1628957449.412 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:49.412Z,1628957449.412 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:49.413Z,1628957449.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:49.414Z,1628957449.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:49.811Z,1628957449.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,00994,183,80,80,BB,FF
2021-08-14T16:10:49.811Z,1628957449.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:49.811Z,1628957449.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:49.813Z,1628957449.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:50.248Z,1628957450.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:50.613Z,1628957450.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,00966,186,80,80,88,FF
2021-08-14T16:10:50.613Z,1628957450.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:51.125Z,1628957451.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161051.61*5B

2021-08-14T16:10:51.143Z,1628957451.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 131.190353 deg, deltaT: 4.444241 s, approachRate: -0.621029 m/s, LOS rate: -1.543112 deg/s, posRepo size: 4
2021-08-14T16:10:51.145Z,1628957451.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.860001 m,
      bearing: 131.190353 deg,
      approachRate: -0.621029 m/s,
      LOS rate: -1.543112 deg/s,
      cmd update: -4.629335 deg/s,
      cmd heading: 148.257730 deg,
      new cmd heading: 145.843731 deg.

2021-08-14T16:10:53.525Z,1628957453.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:53.845Z,1628957453.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:53.845Z,1628957453.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:53.845Z,1628957453.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:53.846Z,1628957453.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:54.253Z,1628957454.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,00966,186,80,80,88,FF
2021-08-14T16:10:54.253Z,1628957454.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:54.253Z,1628957454.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:54.255Z,1628957454.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:54.663Z,1628957454.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:55.065Z,1628957455.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00938,188,80,80,96,FF
2021-08-14T16:10:55.065Z,1628957455.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:55.505Z,1628957455.505 [Micromodem](INFO): Nmea in: $SNTTA,0.095107,,,,161056.05*4A

2021-08-14T16:10:55.546Z,1628957455.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.100006 m, bearing: 130.053632 deg, deltaT: 4.420150 s, approachRate: -0.624412 m/s, LOS rate: -0.257168 deg/s, posRepo size: 4
2021-08-14T16:10:55.548Z,1628957455.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.100006 m,
      bearing: 130.053632 deg,
      approachRate: -0.624412 m/s,
      LOS rate: -0.257168 deg/s,
      cmd update: -0.771504 deg/s,
      cmd heading: 127.759079 deg,
      new cmd heading: 125.713844 deg.

2021-08-14T16:10:57.900Z,1628957457.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:10:58.289Z,1628957458.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:10:58.289Z,1628957458.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:10:58.289Z,1628957458.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:10:58.290Z,1628957458.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:10:58.708Z,1628957458.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00938,188,80,80,96,FF
2021-08-14T16:10:58.708Z,1628957458.708 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:10:58.709Z,1628957458.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:10:58.710Z,1628957458.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:10:59.105Z,1628957459.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:10:59.506Z,1628957459.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00906,186,80,80,C7,FF
2021-08-14T16:10:59.506Z,1628957459.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:10:59.938Z,1628957459.938 [Micromodem](INFO): Nmea in: $SNTTA,0.069987,,,,161100.51*4A

2021-08-14T16:10:59.960Z,1628957459.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.099998 m, bearing: 135.352575 deg, deltaT: 4.426392 s, approachRate: -0.677755 m/s, LOS rate: 1.197125 deg/s, posRepo size: 4
2021-08-14T16:10:59.962Z,1628957459.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.099998 m,
      bearing: 135.352575 deg,
      approachRate: -0.677755 m/s,
      LOS rate: 1.197125 deg/s,
      cmd update: 3.591374 deg/s,
      cmd heading: 124.340987 deg,
      new cmd heading: 124.012850 deg.

2021-08-14T16:11:02.389Z,1628957462.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:02.737Z,1628957462.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:02.737Z,1628957462.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:02.737Z,1628957462.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:02.738Z,1628957462.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:03.141Z,1628957463.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00906,186,80,80,C7,FF
2021-08-14T16:11:03.141Z,1628957463.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:03.141Z,1628957463.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:03.143Z,1628957463.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:03.549Z,1628957463.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:03.949Z,1628957463.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,008D5,184,80,80,A0,FF
2021-08-14T16:11:03.950Z,1628957463.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:04.489Z,1628957464.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161104.94*50

2021-08-14T16:11:04.572Z,1628957464.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.159996 m, bearing: 136.269733 deg, deltaT: 4.461489 s, approachRate: -0.658973 m/s, LOS rate: 0.205572 deg/s, posRepo size: 4
2021-08-14T16:11:04.575Z,1628957464.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.159996 m,
      bearing: 136.269733 deg,
      approachRate: -0.658973 m/s,
      LOS rate: 0.205572 deg/s,
      cmd update: 0.616716 deg/s,
      cmd heading: 140.277367 deg,
      new cmd heading: 142.414819 deg.

2021-08-14T16:11:06.796Z,1628957466.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:07.177Z,1628957467.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:07.177Z,1628957467.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:07.177Z,1628957467.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:07.178Z,1628957467.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:07.589Z,1628957467.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,008D5,184,80,80,A0,FF
2021-08-14T16:11:07.590Z,1628957467.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:07.590Z,1628957467.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:07.591Z,1628957467.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:07.993Z,1628957467.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:08.401Z,1628957468.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,008A0,186,80,80,8C,FF
2021-08-14T16:11:08.402Z,1628957468.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:08.833Z,1628957468.833 [Micromodem](INFO): Nmea in: $SNTTA,0.066000,,,,161109.39*44

2021-08-14T16:11:08.869Z,1628957468.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.980003 m, bearing: 133.261348 deg, deltaT: 4.508439 s, approachRate: -0.705342 m/s, LOS rate: -0.667278 deg/s, posRepo size: 4
2021-08-14T16:11:08.871Z,1628957468.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.980003 m,
      bearing: 133.261348 deg,
      approachRate: -0.705342 m/s,
      LOS rate: -0.667278 deg/s,
      cmd update: -2.001835 deg/s,
      cmd heading: 143.072614 deg,
      new cmd heading: 143.297230 deg.

2021-08-14T16:11:11.239Z,1628957471.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:11.629Z,1628957471.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:11.630Z,1628957471.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:11.630Z,1628957471.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:11.631Z,1628957471.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:12.033Z,1628957472.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,008A0,186,80,80,8C,FF
2021-08-14T16:11:12.033Z,1628957472.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:12.033Z,1628957472.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:12.035Z,1628957472.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:12.457Z,1628957472.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:12.841Z,1628957472.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,0086C,186,80,80,8E,FF
2021-08-14T16:11:12.842Z,1628957472.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:13.277Z,1628957473.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161113.83*50

2021-08-14T16:11:13.324Z,1628957473.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.860001 m, bearing: 132.397493 deg, deltaT: 4.355016 s, approachRate: -0.716416 m/s, LOS rate: -0.198359 deg/s, posRepo size: 4
2021-08-14T16:11:13.326Z,1628957473.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.860001 m,
      bearing: 132.397493 deg,
      approachRate: -0.716416 m/s,
      LOS rate: -0.198359 deg/s,
      cmd update: -0.595076 deg/s,
      cmd heading: 134.354539 deg,
      new cmd heading: 133.472670 deg.

2021-08-14T16:11:15.709Z,1628957475.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:16.069Z,1628957476.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:16.069Z,1628957476.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:16.069Z,1628957476.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:16.070Z,1628957476.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:16.478Z,1628957476.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,0086C,186,80,80,8E,FF
2021-08-14T16:11:16.478Z,1628957476.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:16.478Z,1628957476.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:16.480Z,1628957476.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:16.889Z,1628957476.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:17.278Z,1628957477.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,0083B,186,80,80,80,FF
2021-08-14T16:11:17.278Z,1628957477.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:17.789Z,1628957477.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161118.28*5A

2021-08-14T16:11:17.831Z,1628957477.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.919998 m, bearing: 134.246535 deg, deltaT: 4.440191 s, approachRate: -0.662134 m/s, LOS rate: 0.416433 deg/s, posRepo size: 4
2021-08-14T16:11:17.833Z,1628957477.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.919998 m,
      bearing: 134.246535 deg,
      approachRate: -0.662134 m/s,
      LOS rate: 0.416433 deg/s,
      cmd update: 1.249299 deg/s,
      cmd heading: 131.712268 deg,
      new cmd heading: 131.396169 deg.

2021-08-14T16:11:20.202Z,1628957480.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:20.509Z,1628957480.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:20.509Z,1628957480.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:20.509Z,1628957480.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:20.510Z,1628957480.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:20.571Z,1628957480.571 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:11:20.919Z,1628957480.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,0083B,186,80,80,80,FF
2021-08-14T16:11:20.919Z,1628957480.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:20.919Z,1628957480.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:20.921Z,1628957480.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:21.321Z,1628957481.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:21.721Z,1628957481.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00808,186,80,80,9E,FF
2021-08-14T16:11:21.722Z,1628957481.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:22.188Z,1628957482.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161122.72*5C

2021-08-14T16:11:22.250Z,1628957482.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.860001 m, bearing: 135.207037 deg, deltaT: 4.449587 s, approachRate: -0.687704 m/s, LOS rate: 0.215863 deg/s, posRepo size: 4
2021-08-14T16:11:22.253Z,1628957482.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.860001 m,
      bearing: 135.207037 deg,
      approachRate: -0.687704 m/s,
      LOS rate: 0.215863 deg/s,
      cmd update: 0.647590 deg/s,
      cmd heading: 137.270834 deg,
      new cmd heading: 137.894955 deg.

2021-08-14T16:11:24.577Z,1628957484.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:24.965Z,1628957484.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:24.965Z,1628957484.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:24.966Z,1628957484.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:24.967Z,1628957484.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:25.361Z,1628957485.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,00808,186,80,80,9E,FF
2021-08-14T16:11:25.361Z,1628957485.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:25.361Z,1628957485.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:25.363Z,1628957485.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:25.768Z,1628957485.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:25.785Z,1628957485.785 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:11:26.211Z,1628957486.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B1,000,007D1,186,80,80,AA,FF
2021-08-14T16:11:26.211Z,1628957486.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:26.609Z,1628957486.609 [Micromodem](INFO): Nmea in: $SNTTA,0.061082,,,,161127.17*49

2021-08-14T16:11:26.669Z,1628957486.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.560005 m, bearing: 134.571269 deg, deltaT: 4.533891 s, approachRate: -0.727851 m/s, LOS rate: -0.140226 deg/s, posRepo size: 4
2021-08-14T16:11:26.671Z,1628957486.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.560005 m,
      bearing: 134.571269 deg,
      approachRate: -0.727851 m/s,
      LOS rate: -0.140226 deg/s,
      cmd update: -0.420677 deg/s,
      cmd heading: 140.204411 deg,
      new cmd heading: 140.454361 deg.

2021-08-14T16:11:29.019Z,1628957489.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:29.398Z,1628957489.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:29.398Z,1628957489.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:29.399Z,1628957489.399 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:29.420Z,1628957489.420 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:29.813Z,1628957489.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B1,000,007D1,186,80,80,AA,FF
2021-08-14T16:11:29.813Z,1628957489.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:29.813Z,1628957489.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:29.815Z,1628957489.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:30.259Z,1628957490.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:30.642Z,1628957490.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,007A2,186,80,80,7E,FF
2021-08-14T16:11:30.642Z,1628957490.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:31.117Z,1628957491.117 [Micromodem](INFO): Nmea in: $SNTTA,0.061786,,,,161131.61*4C

2021-08-14T16:11:31.163Z,1628957491.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.740005 m, bearing: 132.163464 deg, deltaT: 4.465089 s, approachRate: -0.631566 m/s, LOS rate: -0.539251 deg/s, posRepo size: 4
2021-08-14T16:11:31.170Z,1628957491.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.740005 m,
      bearing: 132.163464 deg,
      approachRate: -0.631566 m/s,
      LOS rate: -0.539251 deg/s,
      cmd update: -1.617754 deg/s,
      cmd heading: 138.334076 deg,
      new cmd heading: 138.149596 deg.

2021-08-14T16:11:33.510Z,1628957493.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:33.853Z,1628957493.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:33.853Z,1628957493.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:33.853Z,1628957493.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:33.854Z,1628957493.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:34.253Z,1628957494.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,007A2,186,80,80,7E,FF
2021-08-14T16:11:34.253Z,1628957494.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:34.253Z,1628957494.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:34.255Z,1628957494.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:34.664Z,1628957494.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:35.053Z,1628957495.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,00771,186,80,80,B3,FF
2021-08-14T16:11:35.054Z,1628957495.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:35.533Z,1628957495.533 [Micromodem](INFO): Nmea in: $SNTTA,0.057320,,,,161136.05*44

2021-08-14T16:11:35.539Z,1628957495.539 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:11:35.553Z,1628957495.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 133.177037 deg, deltaT: 4.355622 s, approachRate: -0.674990 m/s, LOS rate: 0.232704 deg/s, posRepo size: 4
2021-08-14T16:11:35.555Z,1628957495.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 133.177037 deg,
      approachRate: -0.674990 m/s,
      LOS rate: 0.232704 deg/s,
      cmd update: 0.698113 deg/s,
      cmd heading: 131.251339 deg,
      new cmd heading: 130.524191 deg.

2021-08-14T16:11:37.960Z,1628957497.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:38.297Z,1628957498.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:38.297Z,1628957498.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:38.297Z,1628957498.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:38.298Z,1628957498.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:38.717Z,1628957498.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,00771,186,80,80,B3,FF
2021-08-14T16:11:38.717Z,1628957498.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:38.717Z,1628957498.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:38.724Z,1628957498.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:39.101Z,1628957499.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:39.506Z,1628957499.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00741,184,80,80,85,FF
2021-08-14T16:11:39.507Z,1628957499.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:39.922Z,1628957499.922 [Micromodem](INFO): Nmea in: $SNTTA,0.057158,,,,161140.52*4A

2021-08-14T16:11:39.953Z,1628957499.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 136.309279 deg, deltaT: 4.479938 s, approachRate: -0.642865 m/s, LOS rate: 0.699171 deg/s, posRepo size: 4
2021-08-14T16:11:39.955Z,1628957499.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.920006 m,
      bearing: 136.309279 deg,
      approachRate: -0.642865 m/s,
      LOS rate: 0.699171 deg/s,
      cmd update: 2.097513 deg/s,
      cmd heading: 134.376421 deg,
      new cmd heading: 134.637311 deg.

2021-08-14T16:11:41.539Z,1628957501.539 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:11:42.367Z,1628957502.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:42.730Z,1628957502.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:42.730Z,1628957502.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:42.730Z,1628957502.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:42.731Z,1628957502.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:43.133Z,1628957503.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00741,184,80,80,85,FF
2021-08-14T16:11:43.133Z,1628957503.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:43.133Z,1628957503.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:43.135Z,1628957503.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:43.551Z,1628957503.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:43.941Z,1628957503.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00707,186,80,80,95,FF
2021-08-14T16:11:43.941Z,1628957503.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:44.493Z,1628957504.493 [Micromodem](INFO): Nmea in: $SNTTA,,0.050878,,,161144.93*4F

2021-08-14T16:11:44.580Z,1628957504.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 133.843581 deg, deltaT: 4.407088 s, approachRate: -0.789638 m/s, LOS rate: -0.559485 deg/s, posRepo size: 4
2021-08-14T16:11:44.582Z,1628957504.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 133.843581 deg,
      approachRate: -0.789638 m/s,
      LOS rate: -0.559485 deg/s,
      cmd update: -1.678454 deg/s,
      cmd heading: 143.620585 deg,
      new cmd heading: 144.856626 deg.

2021-08-14T16:11:44.729Z,1628957504.729 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T16:11:44.731Z,1628957504.731 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T16:11:45.576Z,1628957505.576 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:11:46.797Z,1628957506.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:47.169Z,1628957507.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:47.169Z,1628957507.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:47.169Z,1628957507.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:47.170Z,1628957507.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:47.573Z,1628957507.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00707,186,80,80,95,FF
2021-08-14T16:11:47.573Z,1628957507.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:47.573Z,1628957507.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:47.575Z,1628957507.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:47.988Z,1628957507.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:48.402Z,1628957508.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,006D1,185,80,80,C4,FF
2021-08-14T16:11:48.403Z,1628957508.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:48.418Z,1628957508.418 [Micromodem](INFO): Nmea in: $SNTTA,0.053078,0.235640,,,161149.37*5F

2021-08-14T16:11:48.828Z,1628957508.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 132.479797 deg, deltaT: 4.525614 s, approachRate: -0.715926 m/s, LOS rate: -0.301348 deg/s, posRepo size: 4
2021-08-14T16:11:48.830Z,1628957508.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.199997 m,
      bearing: 132.479797 deg,
      approachRate: -0.715926 m/s,
      LOS rate: -0.301348 deg/s,
      cmd update: -0.904043 deg/s,
      cmd heading: 136.017790 deg,
      new cmd heading: 135.494970 deg.

2021-08-14T16:11:50.487Z,1628957510.487 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:11:51.227Z,1628957511.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:51.609Z,1628957511.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:51.609Z,1628957511.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:51.609Z,1628957511.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:51.610Z,1628957511.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:52.017Z,1628957512.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,006D1,185,80,80,C4,FF
2021-08-14T16:11:52.017Z,1628957512.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:52.017Z,1628957512.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:52.019Z,1628957512.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:52.448Z,1628957512.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:52.833Z,1628957512.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,006A0,186,80,80,B2,FF
2021-08-14T16:11:52.833Z,1628957512.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:53.278Z,1628957513.278 [Micromodem](INFO): Nmea in: $SNTTA,0.064786,,,,161153.82*40

2021-08-14T16:11:53.333Z,1628957513.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.260010 m, bearing: 132.898843 deg, deltaT: 4.358716 s, approachRate: -0.674508 m/s, LOS rate: 0.096140 deg/s, posRepo size: 4
2021-08-14T16:11:53.335Z,1628957513.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.260010 m,
      bearing: 132.898843 deg,
      approachRate: -0.674508 m/s,
      LOS rate: 0.096140 deg/s,
      cmd update: 0.288419 deg/s,
      cmd heading: 132.080948 deg,
      new cmd heading: 131.662952 deg.

2021-08-14T16:11:55.766Z,1628957515.766 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T16:11:55.795Z,1628957515.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:11:56.061Z,1628957516.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:11:56.061Z,1628957516.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:11:56.061Z,1628957516.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:11:56.062Z,1628957516.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:11:56.485Z,1628957516.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,006A0,186,80,80,B2,FF
2021-08-14T16:11:56.485Z,1628957516.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:11:56.485Z,1628957516.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:11:56.487Z,1628957516.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:11:56.881Z,1628957516.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:11:57.281Z,1628957517.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0066C,186,80,80,B7,FF
2021-08-14T16:11:57.281Z,1628957517.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:11:57.713Z,1628957517.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161158.29*5F

2021-08-14T16:11:57.765Z,1628957517.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 133.175507 deg, deltaT: 4.424181 s, approachRate: -0.705217 m/s, LOS rate: 0.062534 deg/s, posRepo size: 4
2021-08-14T16:11:57.767Z,1628957517.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.140003 m,
      bearing: 133.175507 deg,
      approachRate: -0.705217 m/s,
      LOS rate: 0.062534 deg/s,
      cmd update: 0.187603 deg/s,
      cmd heading: 133.358133 deg,
      new cmd heading: 133.492630 deg.

2021-08-14T16:12:00.128Z,1628957520.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:00.513Z,1628957520.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:00.513Z,1628957520.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:00.514Z,1628957520.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:00.515Z,1628957520.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:00.553Z,1628957520.553 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T16:12:00.913Z,1628957520.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0066C,186,80,80,B7,FF
2021-08-14T16:12:00.913Z,1628957520.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:00.913Z,1628957520.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:00.915Z,1628957520.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:01.326Z,1628957521.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:01.721Z,1628957521.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,00637,186,80,80,B4,FF
2021-08-14T16:12:01.721Z,1628957521.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:02.195Z,1628957522.195 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161202.72*5D

2021-08-14T16:12:02.277Z,1628957522.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 133.530512 deg, deltaT: 4.501072 s, approachRate: -0.706499 m/s, LOS rate: 0.078871 deg/s, posRepo size: 4
2021-08-14T16:12:02.279Z,1628957522.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.959999 m,
      bearing: 133.530512 deg,
      approachRate: -0.706499 m/s,
      LOS rate: 0.078871 deg/s,
      cmd update: 0.236614 deg/s,
      cmd heading: 134.201769 deg,
      new cmd heading: 134.291221 deg.

2021-08-14T16:12:04.622Z,1628957524.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:04.962Z,1628957524.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:04.962Z,1628957524.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:04.962Z,1628957524.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:04.963Z,1628957524.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:05.354Z,1628957525.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,00637,186,80,80,B4,FF
2021-08-14T16:12:05.354Z,1628957525.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:05.354Z,1628957525.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:05.359Z,1628957525.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:05.760Z,1628957525.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:06.178Z,1628957526.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09C,000,00605,186,80,80,9A,FF
2021-08-14T16:12:06.179Z,1628957526.179 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:06.611Z,1628957526.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161207.16*5A

2021-08-14T16:12:06.653Z,1628957526.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 132.169037 deg, deltaT: 4.478450 s, approachRate: -0.669873 m/s, LOS rate: -0.304006 deg/s, posRepo size: 4
2021-08-14T16:12:06.676Z,1628957526.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.960007 m,
      bearing: 132.169037 deg,
      approachRate: -0.669873 m/s,
      LOS rate: -0.304006 deg/s,
      cmd update: -0.912018 deg/s,
      cmd heading: 135.259519 deg,
      new cmd heading: 135.350579 deg.

2021-08-14T16:12:09.039Z,1628957529.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:09.416Z,1628957529.416 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:09.416Z,1628957529.416 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:09.417Z,1628957529.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:09.418Z,1628957529.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:09.801Z,1628957529.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09C,000,00605,186,80,80,9A,FF
2021-08-14T16:12:09.801Z,1628957529.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:09.801Z,1628957529.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:09.803Z,1628957529.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:10.241Z,1628957530.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:10.609Z,1628957530.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,005CE,186,80,80,86,FF
2021-08-14T16:12:10.610Z,1628957530.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:11.045Z,1628957531.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161211.60*5C

2021-08-14T16:12:11.093Z,1628957531.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 134.124848 deg, deltaT: 4.354871 s, approachRate: -0.757773 m/s, LOS rate: 0.449109 deg/s, posRepo size: 4
2021-08-14T16:12:11.094Z,1628957531.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.660004 m,
      bearing: 134.124848 deg,
      approachRate: -0.757773 m/s,
      LOS rate: 0.449109 deg/s,
      cmd update: 1.347327 deg/s,
      cmd heading: 131.279644 deg,
      new cmd heading: 130.861948 deg.

2021-08-14T16:12:13.527Z,1628957533.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:13.845Z,1628957533.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:13.845Z,1628957533.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:13.845Z,1628957533.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:13.846Z,1628957533.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:14.245Z,1628957534.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,005CE,186,80,80,86,FF
2021-08-14T16:12:14.245Z,1628957534.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:14.246Z,1628957534.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:14.247Z,1628957534.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:14.673Z,1628957534.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:15.061Z,1628957535.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,052,000,0059E,184,80,80,75,FF
2021-08-14T16:12:15.061Z,1628957535.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:15.537Z,1628957535.537 [Micromodem](INFO): Nmea in: $SNTTA,0.048942,,,,161216.05*45

2021-08-14T16:12:15.583Z,1628957535.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 134.904350 deg, deltaT: 4.473890 s, approachRate: -0.643737 m/s, LOS rate: 0.174234 deg/s, posRepo size: 4
2021-08-14T16:12:15.585Z,1628957535.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.779995 m,
      bearing: 134.904350 deg,
      approachRate: -0.643737 m/s,
      LOS rate: 0.174234 deg/s,
      cmd update: 0.522701 deg/s,
      cmd heading: 137.279306 deg,
      new cmd heading: 137.952334 deg.

2021-08-14T16:12:17.919Z,1628957537.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:18.297Z,1628957538.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:18.297Z,1628957538.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:18.297Z,1628957538.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:18.298Z,1628957538.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:18.706Z,1628957538.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
052,000,0059E,184,80,80,75,FF
2021-08-14T16:12:18.706Z,1628957538.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:18.706Z,1628957538.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:18.707Z,1628957538.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:19.105Z,1628957539.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:19.501Z,1628957539.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00564,186,80,80,95,FF
2021-08-14T16:12:19.502Z,1628957539.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:19.945Z,1628957539.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161220.51*5C

2021-08-14T16:12:19.980Z,1628957539.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 133.821916 deg, deltaT: 4.476359 s, approachRate: -0.777417 m/s, LOS rate: -0.241811 deg/s, posRepo size: 4
2021-08-14T16:12:19.982Z,1628957539.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.299999 m,
      bearing: 133.821916 deg,
      approachRate: -0.777417 m/s,
      LOS rate: -0.241811 deg/s,
      cmd update: -0.725434 deg/s,
      cmd heading: 139.631691 deg,
      new cmd heading: 139.838740 deg.

2021-08-14T16:12:20.750Z,1628957540.750 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:12:22.374Z,1628957542.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:22.726Z,1628957542.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:22.726Z,1628957542.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:22.727Z,1628957542.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:22.728Z,1628957542.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:23.143Z,1628957543.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00564,186,80,80,95,FF
2021-08-14T16:12:23.143Z,1628957543.143 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:23.143Z,1628957543.143 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:23.145Z,1628957543.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:23.545Z,1628957543.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:23.953Z,1628957543.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00534,186,80,80,A1,FF
2021-08-14T16:12:23.954Z,1628957543.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:24.397Z,1628957544.397 [Micromodem](INFO): Nmea in: $SNTTA,0.042954,,,,161224.95*40

2021-08-14T16:12:24.498Z,1628957544.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 134.389655 deg, deltaT: 4.386897 s, approachRate: -0.656501 m/s, LOS rate: 0.129417 deg/s, posRepo size: 4
2021-08-14T16:12:24.500Z,1628957544.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.419998 m,
      bearing: 134.389655 deg,
      approachRate: -0.656501 m/s,
      LOS rate: 0.129417 deg/s,
      cmd update: 0.388251 deg/s,
      cmd heading: 136.449293 deg,
      new cmd heading: 136.066715 deg.

2021-08-14T16:12:26.531Z,1628957546.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:26.809Z,1628957546.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:26.809Z,1628957546.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:26.809Z,1628957546.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:26.810Z,1628957546.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:27.217Z,1628957547.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00534,186,80,80,A1,FF
2021-08-14T16:12:27.217Z,1628957547.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:27.218Z,1628957547.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:27.219Z,1628957547.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:27.630Z,1628957547.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:28.029Z,1628957548.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00505,186,80,80,52,FF
2021-08-14T16:12:28.030Z,1628957548.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:28.477Z,1628957548.477 [Micromodem](INFO): Nmea in: $SNTTA,0.050670,,,,161229.02*49

2021-08-14T16:12:28.543Z,1628957548.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 133.905626 deg, deltaT: 4.076646 s, approachRate: -0.691745 m/s, LOS rate: -0.118732 deg/s, posRepo size: 4
2021-08-14T16:12:28.544Z,1628957548.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.60 m.
2021-08-14T16:12:28.560Z,1628957548.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.60 m.
2021-08-14T16:12:28.560Z,1628957548.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:12:28.562Z,1628957548.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.599998 m,
      bearing: 133.905626 deg,
      approachRate: -0.691745 m/s,
      LOS rate: -0.118732 deg/s,
      cmd update: -0.356196 deg/s,
      cmd heading: 138.032090 deg,
      new cmd heading: 138.224530 deg.

2021-08-14T16:12:28.873Z,1628957548.873 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:12:28.873Z,1628957548.873 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:12:28.874Z,1628957548.874 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:12:28.874Z,1628957548.874 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:12:28.874Z,1628957548.874 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:12:28.874Z,1628957548.874 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:12:29.265Z,1628957549.265 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:12:29.266Z,1628957549.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:12:29.266Z,1628957549.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:12:29.266Z,1628957549.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:12:30.581Z,1628957550.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:30.857Z,1628957550.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:30.858Z,1628957550.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:30.858Z,1628957550.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:30.859Z,1628957550.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:31.257Z,1628957551.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00505,186,80,80,52,FF
2021-08-14T16:12:31.257Z,1628957551.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:31.257Z,1628957551.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:31.259Z,1628957551.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:31.669Z,1628957551.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:32.074Z,1628957552.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,004D2,186,80,80,85,FF
2021-08-14T16:12:32.074Z,1628957552.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:32.094Z,1628957552.094 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:12:32.509Z,1628957552.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161233.06*5C

2021-08-14T16:12:32.573Z,1628957552.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 134.261029 deg, deltaT: 4.043985 s, approachRate: -0.756680 m/s, LOS rate: 0.087884 deg/s, posRepo size: 4
2021-08-14T16:12:32.575Z,1628957552.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.539997 m,
      bearing: 134.261029 deg,
      approachRate: -0.756680 m/s,
      LOS rate: 0.087884 deg/s,
      cmd update: 0.263652 deg/s,
      cmd heading: 136.591759 deg,
      new cmd heading: 136.420100 deg.

2021-08-14T16:12:34.930Z,1628957554.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:35.301Z,1628957555.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:35.301Z,1628957555.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:35.301Z,1628957555.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:35.302Z,1628957555.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:35.713Z,1628957555.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,004D2,186,80,80,85,FF
2021-08-14T16:12:35.713Z,1628957555.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:35.713Z,1628957555.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:35.715Z,1628957555.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:36.109Z,1628957556.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:36.509Z,1628957556.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0049A,186,80,80,53,FF
2021-08-14T16:12:36.509Z,1628957556.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:36.626Z,1628957556.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:12:36.957Z,1628957556.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161237.52*59

2021-08-14T16:12:36.980Z,1628957556.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 132.873380 deg, deltaT: 4.531769 s, approachRate: -0.741432 m/s, LOS rate: -0.306205 deg/s, posRepo size: 4
2021-08-14T16:12:36.982Z,1628957556.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.180000 m,
      bearing: 132.873380 deg,
      approachRate: -0.741432 m/s,
      LOS rate: -0.306205 deg/s,
      cmd update: -0.918614 deg/s,
      cmd heading: 137.783814 deg,
      new cmd heading: 137.880669 deg.

2021-08-14T16:12:39.367Z,1628957559.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:39.741Z,1628957559.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:39.741Z,1628957559.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:39.741Z,1628957559.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:39.742Z,1628957559.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:40.157Z,1628957560.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0049A,186,80,80,53,FF
2021-08-14T16:12:40.158Z,1628957560.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:40.159Z,1628957560.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:40.165Z,1628957560.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:40.557Z,1628957560.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:40.953Z,1628957560.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00465,186,80,80,6F,FF
2021-08-14T16:12:40.953Z,1628957560.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:40.974Z,1628957560.974 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:12:41.397Z,1628957561.397 [Micromodem](INFO): Nmea in: $SNTTA,0.036916,,,,161241.97*44

2021-08-14T16:12:41.456Z,1628957561.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 131.522464 deg, deltaT: 4.348554 s, approachRate: -0.731277 m/s, LOS rate: -0.310659 deg/s, posRepo size: 4
2021-08-14T16:12:41.458Z,1628957561.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.000002 m,
      bearing: 131.522464 deg,
      approachRate: -0.731277 m/s,
      LOS rate: -0.310659 deg/s,
      cmd update: -0.931976 deg/s,
      cmd heading: 133.780316 deg,
      new cmd heading: 133.334102 deg.

2021-08-14T16:12:43.810Z,1628957563.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:44.229Z,1628957564.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:44.229Z,1628957564.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:44.229Z,1628957564.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:44.230Z,1628957564.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:44.597Z,1628957564.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00465,186,80,80,6F,FF
2021-08-14T16:12:44.597Z,1628957564.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:44.597Z,1628957564.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:44.599Z,1628957564.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:44.997Z,1628957564.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:45.415Z,1628957565.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,0043B,186,80,80,38,FF
2021-08-14T16:12:45.416Z,1628957565.416 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:45.539Z,1628957565.539 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:12:45.841Z,1628957565.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161246.40*5C

2021-08-14T16:12:45.884Z,1628957565.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 131.836789 deg, deltaT: 4.564346 s, approachRate: -0.552106 m/s, LOS rate: 0.068865 deg/s, posRepo size: 4
2021-08-14T16:12:45.886Z,1628957565.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.480000 m,
      bearing: 131.836789 deg,
      approachRate: -0.552106 m/s,
      LOS rate: 0.068865 deg/s,
      cmd update: 0.206596 deg/s,
      cmd heading: 129.529579 deg,
      new cmd heading: 129.220083 deg.

2021-08-14T16:12:48.286Z,1628957568.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:48.630Z,1628957568.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:48.630Z,1628957568.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:48.630Z,1628957568.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:48.631Z,1628957568.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:49.035Z,1628957569.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,0043B,186,80,80,38,FF
2021-08-14T16:12:49.036Z,1628957569.036 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:49.037Z,1628957569.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:49.040Z,1628957569.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:49.480Z,1628957569.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:49.849Z,1628957569.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,003FA,183,80,80,7D,FF
2021-08-14T16:12:49.850Z,1628957569.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:49.870Z,1628957569.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:12:50.281Z,1628957570.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161250.84*53

2021-08-14T16:12:50.329Z,1628957570.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 134.282175 deg, deltaT: 4.331422 s, approachRate: -0.900397 m/s, LOS rate: 0.564569 deg/s, posRepo size: 4
2021-08-14T16:12:50.331Z,1628957570.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.580000 m,
      bearing: 134.282175 deg,
      approachRate: -0.900397 m/s,
      LOS rate: 0.564569 deg/s,
      cmd update: 1.693706 deg/s,
      cmd heading: 130.425296 deg,
      new cmd heading: 130.520718 deg.

2021-08-14T16:12:52.717Z,1628957572.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:53.085Z,1628957573.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:53.085Z,1628957573.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:53.085Z,1628957573.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:53.086Z,1628957573.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:53.497Z,1628957573.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,003FA,183,80,80,7D,FF
2021-08-14T16:12:53.497Z,1628957573.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:53.497Z,1628957573.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:53.499Z,1628957573.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:53.917Z,1628957573.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:54.322Z,1628957574.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,003C8,183,80,80,7A,FF
2021-08-14T16:12:54.322Z,1628957574.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:54.362Z,1628957574.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:12:54.753Z,1628957574.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161255.30*59

2021-08-14T16:12:54.780Z,1628957574.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 134.463776 deg, deltaT: 4.492086 s, approachRate: -0.667841 m/s, LOS rate: 0.040427 deg/s, posRepo size: 4
2021-08-14T16:12:54.782Z,1628957574.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.580000 m,
      bearing: 134.463776 deg,
      approachRate: -0.667841 m/s,
      LOS rate: 0.040427 deg/s,
      cmd update: 0.121281 deg/s,
      cmd heading: 138.033712 deg,
      new cmd heading: 138.745749 deg.

2021-08-14T16:12:57.175Z,1628957577.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:12:57.565Z,1628957577.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:12:57.565Z,1628957577.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:12:57.565Z,1628957577.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:12:57.566Z,1628957577.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:12:57.957Z,1628957577.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,003C8,183,80,80,7A,FF
2021-08-14T16:12:57.957Z,1628957577.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:12:57.958Z,1628957577.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:12:57.959Z,1628957577.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:12:58.365Z,1628957578.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:12:58.773Z,1628957578.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,003A2,185,80,80,59,FF
2021-08-14T16:12:58.773Z,1628957578.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:12:58.794Z,1628957578.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:12:59.205Z,1628957579.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161259.76*57

2021-08-14T16:12:59.240Z,1628957579.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 130.408119 deg, deltaT: 4.431304 s, approachRate: -0.514521 m/s, LOS rate: -0.915229 deg/s, posRepo size: 4
2021-08-14T16:12:59.242Z,1628957579.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 130.408119 deg,
      approachRate: -0.514521 m/s,
      LOS rate: -0.915229 deg/s,
      cmd update: -2.745687 deg/s,
      cmd heading: 138.571133 deg,
      new cmd heading: 138.625593 deg.

2021-08-14T16:13:01.648Z,1628957581.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:02.001Z,1628957582.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:02.001Z,1628957582.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:02.001Z,1628957582.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:02.002Z,1628957582.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:02.420Z,1628957582.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,003A2,185,80,80,59,FF
2021-08-14T16:13:02.421Z,1628957582.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:02.421Z,1628957582.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:02.427Z,1628957582.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:02.821Z,1628957582.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:03.217Z,1628957583.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00363,186,80,80,B1,FF
2021-08-14T16:13:03.217Z,1628957583.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:03.238Z,1628957583.238 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:03.646Z,1628957583.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161304.23*5E

2021-08-14T16:13:03.689Z,1628957583.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.520001 m, bearing: 132.225045 deg, deltaT: 4.444127 s, approachRate: -0.850560 m/s, LOS rate: 0.408838 deg/s, posRepo size: 4
2021-08-14T16:13:03.691Z,1628957583.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.520001 m,
      bearing: 132.225045 deg,
      approachRate: -0.850560 m/s,
      LOS rate: 0.408838 deg/s,
      cmd update: 1.226513 deg/s,
      cmd heading: 126.368895 deg,
      new cmd heading: 125.122326 deg.

2021-08-14T16:13:06.063Z,1628957586.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:06.469Z,1628957586.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:06.469Z,1628957586.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:06.469Z,1628957586.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:06.470Z,1628957586.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:06.849Z,1628957586.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00363,186,80,80,B1,FF
2021-08-14T16:13:06.849Z,1628957586.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:06.849Z,1628957586.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:06.851Z,1628957586.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:07.261Z,1628957587.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:07.669Z,1628957587.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00343,185,80,80,98,FF
2021-08-14T16:13:07.670Z,1628957587.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:07.722Z,1628957587.722 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:08.105Z,1628957588.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161308.65*50

2021-08-14T16:13:08.130Z,1628957588.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 133.518041 deg, deltaT: 4.484570 s, approachRate: -0.428135 m/s, LOS rate: 0.288321 deg/s, posRepo size: 4
2021-08-14T16:13:08.136Z,1628957588.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 133.518041 deg,
      approachRate: -0.428135 m/s,
      LOS rate: 0.288321 deg/s,
      cmd update: 0.864963 deg/s,
      cmd heading: 131.869275 deg,
      new cmd heading: 132.372727 deg.

2021-08-14T16:13:10.555Z,1628957590.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:10.889Z,1628957590.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:10.889Z,1628957590.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:10.889Z,1628957590.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:10.890Z,1628957590.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:11.309Z,1628957591.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00343,185,80,80,98,FF
2021-08-14T16:13:11.309Z,1628957591.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:11.309Z,1628957591.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:11.311Z,1628957591.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:11.713Z,1628957591.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:12.119Z,1628957592.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,002FE,183,80,80,A9,FF
2021-08-14T16:13:12.119Z,1628957592.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:12.213Z,1628957592.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:12.586Z,1628957592.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 133.276006 deg, deltaT: 4.490589 s, approachRate: -0.921928 m/s, LOS rate: -0.053898 deg/s, posRepo size: 4
2021-08-14T16:13:12.592Z,1628957592.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 133.276006 deg,
      approachRate: -0.921928 m/s,
      LOS rate: -0.053898 deg/s,
      cmd update: -0.161695 deg/s,
      cmd heading: 135.737272 deg,
      new cmd heading: 136.078761 deg.

2021-08-14T16:13:14.956Z,1628957594.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:15.353Z,1628957595.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:15.354Z,1628957595.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:15.354Z,1628957595.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:15.355Z,1628957595.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:15.737Z,1628957595.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,002FE,183,80,80,A9,FF
2021-08-14T16:13:15.738Z,1628957595.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:15.738Z,1628957595.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:15.739Z,1628957595.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:16.191Z,1628957596.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:16.545Z,1628957596.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,002D2,184,80,80,B5,FF
2021-08-14T16:13:16.545Z,1628957596.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:16.675Z,1628957596.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:16.997Z,1628957596.997 [Micromodem](INFO): Nmea in: $SNTTA,0.042771,,,,161317.54*45

2021-08-14T16:13:17.020Z,1628957597.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.820000 m, bearing: 138.600316 deg, deltaT: 4.462089 s, approachRate: -0.591651 m/s, LOS rate: 1.193233 deg/s, posRepo size: 4
2021-08-14T16:13:17.022Z,1628957597.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 138.600316 deg,
      approachRate: -0.591651 m/s,
      LOS rate: 1.193233 deg/s,
      cmd update: 3.579698 deg/s,
      cmd heading: 135.014750 deg,
      new cmd heading: 134.956482 deg.

2021-08-14T16:13:19.466Z,1628957599.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:19.789Z,1628957599.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:19.789Z,1628957599.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:19.789Z,1628957599.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:19.790Z,1628957599.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:20.225Z,1628957600.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,002D2,184,80,80,B5,FF
2021-08-14T16:13:20.225Z,1628957600.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:20.226Z,1628957600.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:20.227Z,1628957600.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:20.601Z,1628957600.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:21.010Z,1628957601.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,002B3,189,80,80,6E,FF
2021-08-14T16:13:21.011Z,1628957601.011 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:21.059Z,1628957601.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:21.422Z,1628957601.422 [Micromodem](INFO): Nmea in: $SNTTA,0.006605,,,,161322.03*43

2021-08-14T16:13:21.473Z,1628957601.473 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T16:13:21.473Z,1628957601.473 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:13:21.473Z,1628957601.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T16:13:21.473Z,1628957601.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:13:21.473Z,1628957601.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T16:13:21.474Z,1628957601.474 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.959999 m 
2021-08-14T16:13:21.474Z,1628957601.474 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T16:13:21.474Z,1628957601.474 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T16:13:21.474Z,1628957601.474 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T16:13:21.477Z,1628957601.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.959999 m, bearing: 99.340300 deg, deltaT: 4.388555 s, approachRate: -0.423830 m/s, LOS rate: -8.946001 deg/s, posRepo size: 4
2021-08-14T16:13:21.479Z,1628957601.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 99.340300 deg,
      approachRate: -0.423830 m/s,
      LOS rate: -8.946001 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 150.739234 deg,
      new cmd heading: 152.258583 deg.

2021-08-14T16:13:21.846Z,1628957601.846 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T161321: (41.552319, -70.708603)
2021-08-14T16:13:21.846Z,1628957601.846 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T16:13:21.847Z,1628957601.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T16:13:21.847Z,1628957601.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:13:21.847Z,1628957601.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T16:13:21.847Z,1628957601.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:13:21.847Z,1628957601.847 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T16:13:21.847Z,1628957601.847 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T16:13:21.847Z,1628957601.847 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:13:23.839Z,1628957603.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:24.254Z,1628957604.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:24.254Z,1628957604.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:24.254Z,1628957604.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:24.255Z,1628957604.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:24.636Z,1628957604.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,002B3,189,80,80,6E,FF
2021-08-14T16:13:24.637Z,1628957604.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:24.637Z,1628957604.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:24.639Z,1628957604.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:25.051Z,1628957605.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:25.465Z,1628957605.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,002B9,186,80,80,CE,FF
2021-08-14T16:13:25.465Z,1628957605.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:25.543Z,1628957605.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:25.870Z,1628957605.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161326.44*5F

2021-08-14T16:13:25.918Z,1628957605.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 157.530090 deg, deltaT: 4.479569 s, approachRate: 0.080365 m/s, LOS rate: 12.990042 deg/s, posRepo size: 4
2021-08-14T16:13:25.918Z,1628957605.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.990042 deg/s. Setting heading cmd to target bearing of 157.530090deg and heading rate command to 0 deg/s.
2021-08-14T16:13:28.326Z,1628957608.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:28.673Z,1628957608.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:28.673Z,1628957608.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:28.673Z,1628957608.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:28.674Z,1628957608.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:29.078Z,1628957609.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,002B9,186,80,80,CE,FF
2021-08-14T16:13:29.078Z,1628957609.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:29.079Z,1628957609.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:29.082Z,1628957609.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:29.489Z,1628957609.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:29.877Z,1628957609.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,002F7,186,80,80,89,FF
2021-08-14T16:13:29.878Z,1628957609.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:29.933Z,1628957609.933 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:30.325Z,1628957610.325 [Micromodem](INFO): Nmea in: $SNTTA,0.008352,,,,161330.88*4A

2021-08-14T16:13:30.422Z,1628957610.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 172.941387 deg, deltaT: 4.390379 s, approachRate: 0.847307 m/s, LOS rate: 3.510243 deg/s, posRepo size: 4
2021-08-14T16:13:30.436Z,1628957610.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 172.941387 deg,
      approachRate: 0.847307 m/s,
      LOS rate: 3.510243 deg/s,
      cmd update: 10.530729 deg/s,
      cmd heading: 157.530090 deg,
      new cmd heading: 157.530090 deg.

2021-08-14T16:13:32.760Z,1628957612.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:33.113Z,1628957613.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:33.113Z,1628957613.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:33.113Z,1628957613.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:33.114Z,1628957613.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:33.514Z,1628957613.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,002F7,186,80,80,89,FF
2021-08-14T16:13:33.514Z,1628957613.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:33.514Z,1628957613.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:33.516Z,1628957613.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:33.928Z,1628957613.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:34.322Z,1628957614.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,0031F,187,80,80,69,FF
2021-08-14T16:13:34.322Z,1628957614.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:34.433Z,1628957614.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:34.790Z,1628957614.790 [Micromodem](INFO): Nmea in: $SNTTA,0.035424,,,,161335.31*45

2021-08-14T16:13:34.836Z,1628957614.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 144.033786 deg, deltaT: 4.499458 s, approachRate: 0.533397 m/s, LOS rate: -6.424685 deg/s, posRepo size: 4
2021-08-14T16:13:34.838Z,1628957614.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 144.033786 deg,
      approachRate: 0.533397 m/s,
      LOS rate: -6.424685 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 205.061853 deg,
      new cmd heading: 209.449765 deg.

2021-08-14T16:13:37.167Z,1628957617.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:37.557Z,1628957617.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:37.557Z,1628957617.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:37.557Z,1628957617.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:37.558Z,1628957617.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:37.961Z,1628957617.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0031F,187,80,80,69,FF
2021-08-14T16:13:37.962Z,1628957617.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:37.962Z,1628957617.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:37.963Z,1628957617.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:38.373Z,1628957618.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:38.769Z,1628957618.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,0034D,186,80,80,81,FF
2021-08-14T16:13:38.770Z,1628957618.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:38.790Z,1628957618.790 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:39.205Z,1628957619.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161339.77*51

2021-08-14T16:13:39.236Z,1628957619.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 157.508575 deg, deltaT: 4.356992 s, approachRate: 0.633464 m/s, LOS rate: 3.092681 deg/s, posRepo size: 4
2021-08-14T16:13:39.238Z,1628957619.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.199997 m,
      bearing: 157.508575 deg,
      approachRate: 0.633464 m/s,
      LOS rate: 3.092681 deg/s,
      cmd update: 9.278044 deg/s,
      cmd heading: 152.649175 deg,
      new cmd heading: 147.257947 deg.

2021-08-14T16:13:41.650Z,1628957621.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:42.001Z,1628957622.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:42.001Z,1628957622.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:42.002Z,1628957622.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:42.003Z,1628957622.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:42.425Z,1628957622.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,0034D,186,80,80,81,FF
2021-08-14T16:13:42.425Z,1628957622.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:42.426Z,1628957622.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:42.432Z,1628957622.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:42.833Z,1628957622.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:43.658Z,1628957623.658 [Micromodem](INFO): Nmea in: $SNTTA,0.023792,,,,161344.24*4E

2021-08-14T16:13:44.596Z,1628957624.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:44.849Z,1628957624.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,04E40,187,80,80,4E,FF
2021-08-14T16:13:44.849Z,1628957624.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:44.869Z,1628957624.869 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:45.284Z,1628957625.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1164.420044 m, bearing: 166.292526 deg, deltaT: 6.079522 s, approachRate: 189.360291 m/s, LOS rate: 1.444842 deg/s, posRepo size: 4
2021-08-14T16:13:45.284Z,1628957625.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 1164.42 m. Rolling out.
2021-08-14T16:13:45.285Z,1628957625.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T16:13:45.785Z,1628957625.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:13:45.785Z,1628957625.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:13:45.785Z,1628957625.785 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:13:45.786Z,1628957625.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:13:45.786Z,1628957625.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:13:45.786Z,1628957625.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:13:46.087Z,1628957626.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:13:46.087Z,1628957626.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:13:46.087Z,1628957626.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:13:46.087Z,1628957626.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:13:47.706Z,1628957627.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:48.101Z,1628957628.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:48.101Z,1628957628.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:48.101Z,1628957628.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:48.102Z,1628957628.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:48.477Z,1628957628.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,04E40,187,80,80,4E,FF
2021-08-14T16:13:48.477Z,1628957628.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:48.477Z,1628957628.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:48.479Z,1628957628.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:48.904Z,1628957628.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:49.301Z,1628957629.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,003AF,186,80,80,68,FF
2021-08-14T16:13:49.301Z,1628957629.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:49.725Z,1628957629.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161350.28*54

2021-08-14T16:13:49.771Z,1628957629.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 212.512375 deg, deltaT: 4.523838 s, approachRate: -253.178848 m/s, LOS rate: 10.216955 deg/s, posRepo size: 4
2021-08-14T16:13:50.201Z,1628957630.201 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:13:50.201Z,1628957630.201 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:13:50.201Z,1628957630.201 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:13:50.202Z,1628957630.202 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:13:50.202Z,1628957630.202 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:13:50.202Z,1628957630.202 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:13:50.599Z,1628957630.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:13:50.599Z,1628957630.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:13:50.599Z,1628957630.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:13:50.599Z,1628957630.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:13:52.206Z,1628957632.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:52.533Z,1628957632.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:52.533Z,1628957632.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:52.533Z,1628957632.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:52.534Z,1628957632.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:52.937Z,1628957632.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,003AF,186,80,80,68,FF
2021-08-14T16:13:52.937Z,1628957632.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:52.937Z,1628957632.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:52.939Z,1628957632.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:53.337Z,1628957633.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:53.741Z,1628957633.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,003C5,187,80,80,67,FF
2021-08-14T16:13:53.742Z,1628957633.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:53.801Z,1628957633.801 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:54.213Z,1628957634.213 [Micromodem](INFO): Nmea in: $SNTTA,0.016110,,,,161354.74*40

2021-08-14T16:13:54.303Z,1628957634.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 227.860302 deg, deltaT: 4.407473 s, approachRate: 0.299492 m/s, LOS rate: 3.482251 deg/s, posRepo size: 4
2021-08-14T16:13:56.301Z,1628957636.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:13:56.577Z,1628957636.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:13:56.577Z,1628957636.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:13:56.578Z,1628957636.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:13:56.578Z,1628957636.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:13:56.973Z,1628957636.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,003C5,187,80,80,67,FF
2021-08-14T16:13:56.974Z,1628957636.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:13:56.974Z,1628957636.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:13:56.975Z,1628957636.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:13:57.389Z,1628957637.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:13:57.777Z,1628957637.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,003EC,186,80,80,68,FF
2021-08-14T16:13:57.777Z,1628957637.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:13:57.839Z,1628957637.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:13:58.249Z,1628957638.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161358.78*59

2021-08-14T16:13:58.305Z,1628957638.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 229.210439 deg, deltaT: 4.038167 s, approachRate: 0.579470 m/s, LOS rate: 0.334344 deg/s, posRepo size: 4
2021-08-14T16:13:59.009Z,1628957639.009 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:14:00.677Z,1628957640.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:01.013Z,1628957641.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:01.013Z,1628957641.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:01.013Z,1628957641.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:01.014Z,1628957641.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:01.425Z,1628957641.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,003EC,186,80,80,68,FF
2021-08-14T16:14:01.425Z,1628957641.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:01.426Z,1628957641.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:01.432Z,1628957641.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:01.828Z,1628957641.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:02.249Z,1628957642.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,003FD,186,80,80,87,FF
2021-08-14T16:14:02.249Z,1628957642.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:02.253Z,1628957642.253 [Micromodem](INFO): Nmea in: $SNTTA,0.265379,0.265348,,,161403.23*5C

2021-08-14T16:14:02.319Z,1628957642.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:02.680Z,1628957642.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 227.654276 deg, deltaT: 4.480077 s, approachRate: 0.227675 m/s, LOS rate: -0.347352 deg/s, posRepo size: 4
2021-08-14T16:14:05.075Z,1628957645.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:05.485Z,1628957645.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:05.485Z,1628957645.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:05.485Z,1628957645.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:05.486Z,1628957645.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:05.865Z,1628957645.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,003FD,186,80,80,87,FF
2021-08-14T16:14:05.865Z,1628957645.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:05.865Z,1628957645.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:05.867Z,1628957645.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:06.273Z,1628957646.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:06.677Z,1628957646.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18B,000,0041E,187,80,80,33,FF
2021-08-14T16:14:06.678Z,1628957646.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:06.707Z,1628957646.707 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:07.105Z,1628957647.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161407.67*5A

2021-08-14T16:14:07.128Z,1628957647.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.740000 m, bearing: 196.108105 deg, deltaT: 4.388777 s, approachRate: 0.451151 m/s, LOS rate: -7.187919 deg/s, posRepo size: 4
2021-08-14T16:14:09.521Z,1628957649.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:09.909Z,1628957649.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:09.909Z,1628957649.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:09.909Z,1628957649.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:09.910Z,1628957649.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:10.301Z,1628957650.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18B,000,0041E,187,80,80,33,FF
2021-08-14T16:14:10.301Z,1628957650.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:10.301Z,1628957650.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:10.303Z,1628957650.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:10.740Z,1628957650.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:11.137Z,1628957651.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00444,185,80,80,78,FF
2021-08-14T16:14:11.137Z,1628957651.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:11.216Z,1628957651.216 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:11.558Z,1628957651.558 [Micromodem](INFO): Nmea in: $SNTTA,0.036027,,,,161412.11*41

2021-08-14T16:14:11.583Z,1628957651.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 234.492251 deg, deltaT: 4.508451 s, approachRate: 0.505717 m/s, LOS rate: 8.513821 deg/s, posRepo size: 4
2021-08-14T16:14:13.986Z,1628957653.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:14.369Z,1628957654.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:14.369Z,1628957654.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:14.369Z,1628957654.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:14.370Z,1628957654.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:14.765Z,1628957654.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00444,185,80,80,78,FF
2021-08-14T16:14:14.765Z,1628957654.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:14.765Z,1628957654.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:14.767Z,1628957654.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:15.177Z,1628957655.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:15.589Z,1628957655.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE7,000,0046D,187,80,80,7B,FF
2021-08-14T16:14:15.590Z,1628957655.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:15.660Z,1628957655.660 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:16.021Z,1628957656.021 [Micromodem](INFO): Nmea in: $SNTTA,0.044612,,,,161416.57*42

2021-08-14T16:14:16.052Z,1628957656.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 229.711583 deg, deltaT: 4.444137 s, approachRate: 0.553538 m/s, LOS rate: -1.075725 deg/s, posRepo size: 4
2021-08-14T16:14:18.508Z,1628957658.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:18.805Z,1628957658.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:18.805Z,1628957658.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:18.805Z,1628957658.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:18.806Z,1628957658.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:19.213Z,1628957659.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE7,000,0046D,187,80,80,7B,FF
2021-08-14T16:14:19.214Z,1628957659.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:19.214Z,1628957659.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:19.215Z,1628957659.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:19.617Z,1628957659.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:20.035Z,1628957660.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00494,186,80,80,85,FF
2021-08-14T16:14:20.035Z,1628957660.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:20.086Z,1628957660.086 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:20.449Z,1628957660.449 [Micromodem](INFO): Nmea in: $SNTTA,0.040569,0.373436,,,161421.02*55

2021-08-14T16:14:20.503Z,1628957660.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 232.456281 deg, deltaT: 4.425649 s, approachRate: 0.528736 m/s, LOS rate: 0.620180 deg/s, posRepo size: 4
2021-08-14T16:14:22.867Z,1628957662.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:23.249Z,1628957663.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:23.249Z,1628957663.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:23.249Z,1628957663.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:23.250Z,1628957663.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:23.665Z,1628957663.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00494,186,80,80,85,FF
2021-08-14T16:14:23.665Z,1628957663.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:23.665Z,1628957663.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:23.667Z,1628957663.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:24.068Z,1628957664.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:24.485Z,1628957664.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,004CD,186,80,80,2F,FF
2021-08-14T16:14:24.486Z,1628957664.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:24.577Z,1628957664.577 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:24.902Z,1628957664.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161425.47*58

2021-08-14T16:14:24.920Z,1628957664.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 231.960573 deg, deltaT: 4.490936 s, approachRate: 0.761533 m/s, LOS rate: -0.110380 deg/s, posRepo size: 4
2021-08-14T16:14:27.323Z,1628957667.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:27.697Z,1628957667.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:27.697Z,1628957667.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:27.697Z,1628957667.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:27.698Z,1628957667.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:28.101Z,1628957668.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,004CD,186,80,80,2F,FF
2021-08-14T16:14:28.101Z,1628957668.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:28.101Z,1628957668.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:28.103Z,1628957668.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:28.513Z,1628957668.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:28.918Z,1628957668.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,004ED,184,80,80,68,FF
2021-08-14T16:14:28.918Z,1628957668.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:28.966Z,1628957668.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:29.354Z,1628957669.354 [Micromodem](INFO): Nmea in: $SNTTA,0.044973,,,,161429.91*4C

2021-08-14T16:14:29.387Z,1628957669.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 219.022529 deg, deltaT: 4.388763 s, approachRate: 0.437480 m/s, LOS rate: -2.947994 deg/s, posRepo size: 4
2021-08-14T16:14:31.781Z,1628957671.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:32.140Z,1628957672.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:32.140Z,1628957672.140 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:32.141Z,1628957672.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:32.143Z,1628957672.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:32.545Z,1628957672.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,004ED,184,80,80,68,FF
2021-08-14T16:14:32.546Z,1628957672.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:32.546Z,1628957672.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:32.548Z,1628957672.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:32.957Z,1628957672.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:33.366Z,1628957673.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00514,187,80,80,6C,FF
2021-08-14T16:14:33.366Z,1628957673.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:33.453Z,1628957673.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:14:33.789Z,1628957673.789 [Micromodem](INFO): Nmea in: $SNTTA,0.038749,,,,161434.35*42

2021-08-14T16:14:33.827Z,1628957673.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 229.871546 deg, deltaT: 4.487129 s, approachRate: 0.521492 m/s, LOS rate: 2.417808 deg/s, posRepo size: 4
2021-08-14T16:14:34.236Z,1628957674.236 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:14:34.236Z,1628957674.236 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:14:34.236Z,1628957674.236 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:14:34.237Z,1628957674.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:14:34.237Z,1628957674.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:14:34.237Z,1628957674.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:14:34.599Z,1628957674.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:14:34.599Z,1628957674.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:14:34.599Z,1628957674.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:14:34.600Z,1628957674.600 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:14:36.276Z,1628957676.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:36.585Z,1628957676.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:36.585Z,1628957676.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:36.585Z,1628957676.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:36.586Z,1628957676.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:36.985Z,1628957676.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00514,187,80,80,6C,FF
2021-08-14T16:14:36.985Z,1628957676.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:36.985Z,1628957676.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:36.987Z,1628957676.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:37.391Z,1628957677.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:38.242Z,1628957678.242 [Micromodem](INFO): Nmea in: $SNTTA,0.440318,,,,161438.79*4D

2021-08-14T16:14:38.606Z,1628957678.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,02B68,186,80,80,36,FF
2021-08-14T16:14:38.607Z,1628957678.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:39.042Z,1628957679.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 629.219971 m, bearing: 235.477547 deg, deltaT: 5.219395 s, approachRate: 112.794678 m/s, LOS rate: 1.074071 deg/s, posRepo size: 4
2021-08-14T16:14:39.042Z,1628957679.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 629.22 m. Resuming terminal guidance.
2021-08-14T16:14:39.043Z,1628957679.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:14:41.499Z,1628957681.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:41.837Z,1628957681.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:41.837Z,1628957681.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:41.838Z,1628957681.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:41.838Z,1628957681.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:42.245Z,1628957682.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,02B68,186,80,80,36,FF
2021-08-14T16:14:42.245Z,1628957682.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:42.245Z,1628957682.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:42.247Z,1628957682.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:42.651Z,1628957682.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:43.053Z,1628957683.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,00579,186,80,80,45,FF
2021-08-14T16:14:43.054Z,1628957683.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:43.493Z,1628957683.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161444.05*59

2021-08-14T16:14:43.530Z,1628957683.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.560001 m, bearing: 199.247861 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:14:43.531Z,1628957683.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 199.247861deg and heading rate command to 0 deg/s.
2021-08-14T16:14:45.891Z,1628957685.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:46.289Z,1628957686.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:46.289Z,1628957686.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:46.290Z,1628957686.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:46.291Z,1628957686.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:46.689Z,1628957686.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,00579,186,80,80,45,FF
2021-08-14T16:14:46.689Z,1628957686.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:46.689Z,1628957686.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:46.691Z,1628957686.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:47.108Z,1628957687.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:47.494Z,1628957687.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,005A6,186,80,80,72,FF
2021-08-14T16:14:47.494Z,1628957687.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:47.937Z,1628957687.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161448.49*5D

2021-08-14T16:14:47.970Z,1628957687.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 197.200580 deg, deltaT: 4.422857 s, approachRate: 0.610464 m/s, LOS rate: -0.462887 deg/s, posRepo size: 2
2021-08-14T16:14:47.973Z,1628957687.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.259998 m,
      bearing: 197.200580 deg,
      approachRate: 0.610464 m/s,
      LOS rate: -0.462887 deg/s,
      cmd update: -1.388660 deg/s,
      cmd heading: 199.247861 deg,
      new cmd heading: 199.247861 deg.

2021-08-14T16:14:50.386Z,1628957690.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:50.725Z,1628957690.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:50.725Z,1628957690.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:50.726Z,1628957690.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:50.727Z,1628957690.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:51.149Z,1628957691.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,005A6,186,80,80,72,FF
2021-08-14T16:14:51.149Z,1628957691.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:51.149Z,1628957691.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:51.151Z,1628957691.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:51.533Z,1628957691.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:51.945Z,1628957691.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,005D6,187,80,80,63,FF
2021-08-14T16:14:51.946Z,1628957691.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:52.349Z,1628957692.349 [Micromodem](INFO): Nmea in: $SNTTA,0.049015,0.405688,,,161452.95*59

2021-08-14T16:14:52.441Z,1628957692.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.139999 m, bearing: 210.499928 deg, deltaT: 4.441039 s, approachRate: 0.648497 m/s, LOS rate: 2.994648 deg/s, posRepo size: 3
2021-08-14T16:14:52.443Z,1628957692.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.139999 m,
      bearing: 210.499928 deg,
      approachRate: 0.648497 m/s,
      LOS rate: 2.994648 deg/s,
      cmd update: 8.983944 deg/s,
      cmd heading: 193.080788 deg,
      new cmd heading: 192.422828 deg.

2021-08-14T16:14:54.471Z,1628957694.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:54.761Z,1628957694.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:54.761Z,1628957694.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:54.761Z,1628957694.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:54.762Z,1628957694.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:55.190Z,1628957695.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,005D6,187,80,80,63,FF
2021-08-14T16:14:55.190Z,1628957695.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:55.190Z,1628957695.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:55.193Z,1628957695.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:14:55.594Z,1628957695.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:14:55.979Z,1628957695.979 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00602,186,80,80,6A,FF
2021-08-14T16:14:55.979Z,1628957695.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:14:56.467Z,1628957696.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.779995 m, bearing: 214.018964 deg, deltaT: 4.042689 s, approachRate: 0.653030 m/s, LOS rate: 0.870469 deg/s, posRepo size: 4
2021-08-14T16:14:56.469Z,1628957696.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.779995 m,
      bearing: 214.018964 deg,
      approachRate: 0.653030 m/s,
      LOS rate: 0.870469 deg/s,
      cmd update: 2.611408 deg/s,
      cmd heading: 229.394977 deg,
      new cmd heading: 233.545748 deg.

2021-08-14T16:14:58.834Z,1628957698.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:14:59.205Z,1628957699.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:14:59.205Z,1628957699.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:14:59.206Z,1628957699.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:14:59.207Z,1628957699.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:14:59.609Z,1628957699.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00602,186,80,80,6A,FF
2021-08-14T16:14:59.609Z,1628957699.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:14:59.610Z,1628957699.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:14:59.611Z,1628957699.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:00.019Z,1628957700.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:00.438Z,1628957700.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00637,186,80,80,74,FF
2021-08-14T16:15:00.438Z,1628957700.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:00.870Z,1628957700.870 [Micromodem](INFO): Nmea in: $SNTTA,0.059038,,,,161501.41*40

2021-08-14T16:15:00.911Z,1628957700.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 209.043363 deg, deltaT: 4.526718 s, approachRate: 0.702497 m/s, LOS rate: -1.099163 deg/s, posRepo size: 4
2021-08-14T16:15:00.914Z,1628957700.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.959999 m,
      bearing: 209.043363 deg,
      approachRate: 0.702497 m/s,
      LOS rate: -1.099163 deg/s,
      cmd update: -3.297489 deg/s,
      cmd heading: 241.202672 deg,
      new cmd heading: 242.208288 deg.

2021-08-14T16:15:03.296Z,1628957703.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:03.654Z,1628957703.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:03.654Z,1628957703.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:03.654Z,1628957703.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:03.655Z,1628957703.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:04.066Z,1628957704.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00637,186,80,80,74,FF
2021-08-14T16:15:04.066Z,1628957704.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:04.066Z,1628957704.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:04.068Z,1628957704.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:04.479Z,1628957704.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:04.872Z,1628957704.872 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,00668,186,80,80,64,FF
2021-08-14T16:15:04.874Z,1628957704.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:05.301Z,1628957705.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161505.87*57

2021-08-14T16:15:05.320Z,1628957705.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 252.729430 deg, deltaT: 4.413081 s, approachRate: 0.666202 m/s, LOS rate: 9.899222 deg/s, posRepo size: 4
2021-08-14T16:15:05.322Z,1628957705.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.900002 m,
      bearing: 252.729430 deg,
      approachRate: 0.666202 m/s,
      LOS rate: 9.899222 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 226.673580 deg,
      new cmd heading: 225.395813 deg.

2021-08-14T16:15:07.745Z,1628957707.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:08.093Z,1628957708.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:08.093Z,1628957708.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:08.093Z,1628957708.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:08.094Z,1628957708.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:08.501Z,1628957708.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,00668,186,80,80,64,FF
2021-08-14T16:15:08.501Z,1628957708.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:08.501Z,1628957708.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:08.503Z,1628957708.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:08.913Z,1628957708.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:09.313Z,1628957709.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D71,000,00682,18A,80,80,88,FF
2021-08-14T16:15:09.313Z,1628957709.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:09.761Z,1628957709.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161510.31*5E

2021-08-14T16:15:09.823Z,1628957709.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 275.594281 deg, deltaT: 4.405719 s, approachRate: 0.354085 m/s, LOS rate: 5.189811 deg/s, posRepo size: 4
2021-08-14T16:15:09.829Z,1628957709.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.459999 m,
      bearing: 275.594281 deg,
      approachRate: 0.354085 m/s,
      LOS rate: 5.189811 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 279.688454 deg,
      new cmd heading: 285.356150 deg.

2021-08-14T16:15:12.241Z,1628957712.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:12.537Z,1628957712.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:12.537Z,1628957712.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:12.537Z,1628957712.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:12.538Z,1628957712.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:12.949Z,1628957712.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D71,000,00682,18A,80,80,88,FF
2021-08-14T16:15:12.949Z,1628957712.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:12.949Z,1628957712.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:12.951Z,1628957712.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:13.349Z,1628957713.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:13.753Z,1628957713.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,006A2,186,80,80,7B,FF
2021-08-14T16:15:13.753Z,1628957713.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:14.225Z,1628957714.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161514.75*5A

2021-08-14T16:15:14.275Z,1628957714.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 260.380226 deg, deltaT: 4.468873 s, approachRate: 0.429640 m/s, LOS rate: -3.404450 deg/s, posRepo size: 4
2021-08-14T16:15:14.279Z,1628957714.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.380005 m,
      bearing: 260.380226 deg,
      approachRate: 0.429640 m/s,
      LOS rate: -3.404450 deg/s,
      cmd update: -10.213351 deg/s,
      cmd heading: 333.180591 deg,
      new cmd heading: 338.786307 deg.

2021-08-14T16:15:16.329Z,1628957716.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:16.593Z,1628957716.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:16.593Z,1628957716.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:16.593Z,1628957716.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:16.594Z,1628957716.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:16.983Z,1628957716.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,006A2,186,80,80,7B,FF
2021-08-14T16:15:16.984Z,1628957716.984 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:16.984Z,1628957716.984 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:16.986Z,1628957716.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:17.406Z,1628957717.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:17.789Z,1628957717.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,006B8,189,80,80,5D,FF
2021-08-14T16:15:17.790Z,1628957717.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:18.257Z,1628957718.257 [Micromodem](INFO): Nmea in: $SNTTA,0.105033,,,,161518.79*40

2021-08-14T16:15:18.314Z,1628957718.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.700005 m, bearing: 304.234739 deg, deltaT: 4.007392 s, approachRate: 0.329391 m/s, LOS rate: 10.943405 deg/s, posRepo size: 4
2021-08-14T16:15:18.320Z,1628957718.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.700005 m,
      bearing: 304.234739 deg,
      approachRate: 0.329391 m/s,
      LOS rate: 10.943405 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.337717 deg,
      new cmd heading: 287.162439 deg.

2021-08-14T16:15:20.358Z,1628957720.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:20.639Z,1628957720.639 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:20.639Z,1628957720.639 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:20.640Z,1628957720.640 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:20.641Z,1628957720.641 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:21.036Z,1628957721.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,006B8,189,80,80,5D,FF
2021-08-14T16:15:21.036Z,1628957721.036 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:21.037Z,1628957721.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:21.039Z,1628957721.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:21.449Z,1628957721.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:21.835Z,1628957721.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB1,000,006BD,189,80,80,A0,FF
2021-08-14T16:15:21.835Z,1628957721.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:22.298Z,1628957722.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 342.326868 deg, deltaT: 4.024696 s, approachRate: 0.074539 m/s, LOS rate: 9.464597 deg/s, posRepo size: 4
2021-08-14T16:15:22.321Z,1628957722.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 342.326868 deg,
      approachRate: 0.074539 m/s,
      LOS rate: 9.464597 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 340.874383 deg,
      new cmd heading: 346.236031 deg.

2021-08-14T16:15:24.737Z,1628957724.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:25.077Z,1628957725.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:25.077Z,1628957725.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:25.077Z,1628957725.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:25.078Z,1628957725.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:25.481Z,1628957725.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB1,000,006BD,189,80,80,A0,FF
2021-08-14T16:15:25.481Z,1628957725.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:25.481Z,1628957725.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:25.483Z,1628957725.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:25.888Z,1628957725.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:26.301Z,1628957726.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,006BE,189,80,80,AC,FF
2021-08-14T16:15:26.301Z,1628957726.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:26.305Z,1628957726.305 [Micromodem](INFO): Nmea in: $SNTTA,0.055663,0.279899,,,161527.28*55

2021-08-14T16:15:26.738Z,1628957726.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.060005 m, bearing: 338.196871 deg, deltaT: 4.515586 s, approachRate: 0.013288 m/s, LOS rate: -0.914609 deg/s, posRepo size: 4
2021-08-14T16:15:26.757Z,1628957726.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 338.196871 deg,
      approachRate: 0.013288 m/s,
      LOS rate: -0.914609 deg/s,
      cmd update: -2.743828 deg/s,
      cmd heading: 35.062305 deg,
      new cmd heading: 39.512277 deg.

2021-08-14T16:15:29.140Z,1628957729.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:29.521Z,1628957729.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:29.521Z,1628957729.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:29.521Z,1628957729.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:29.522Z,1628957729.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:29.925Z,1628957729.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,006BE,189,80,80,AC,FF
2021-08-14T16:15:29.925Z,1628957729.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:29.925Z,1628957729.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:29.927Z,1628957729.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:30.338Z,1628957730.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:30.733Z,1628957730.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006B3,189,80,80,BA,FF
2021-08-14T16:15:30.734Z,1628957730.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:31.177Z,1628957731.177 [Micromodem](INFO): Nmea in: $SNTTA,0.073387,,,,161531.73*4D

2021-08-14T16:15:31.199Z,1628957731.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.400002 m, bearing: 24.521817 deg, deltaT: 4.429945 s, approachRate: -0.148987 m/s, LOS rate: 10.457231 deg/s, posRepo size: 4
2021-08-14T16:15:31.202Z,1628957731.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.400002 m,
      bearing: 24.521817 deg,
      approachRate: -0.148987 m/s,
      LOS rate: 10.457231 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 22.940743 deg,
      new cmd heading: 21.804076 deg.

2021-08-14T16:15:33.605Z,1628957733.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:33.969Z,1628957733.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:33.969Z,1628957733.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:33.969Z,1628957733.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:33.970Z,1628957733.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:34.369Z,1628957734.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,006B3,189,80,80,BA,FF
2021-08-14T16:15:34.369Z,1628957734.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:34.369Z,1628957734.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:34.371Z,1628957734.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:34.777Z,1628957734.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:35.181Z,1628957735.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDF,000,00696,189,80,80,AC,FF
2021-08-14T16:15:35.182Z,1628957735.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:35.642Z,1628957735.642 [Micromodem](INFO): Nmea in: $SNTTA,0.060911,,,,161536.17*4F

2021-08-14T16:15:35.702Z,1628957735.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 18.771754 deg, deltaT: 4.421009 s, approachRate: -0.393574 m/s, LOS rate: -1.300622 deg/s, posRepo size: 4
2021-08-14T16:15:35.704Z,1628957735.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.660007 m,
      bearing: 18.771754 deg,
      approachRate: -0.393574 m/s,
      LOS rate: -1.300622 deg/s,
      cmd update: -3.901867 deg/s,
      cmd heading: 76.139132 deg,
      new cmd heading: 81.946148 deg.

2021-08-14T16:15:38.052Z,1628957738.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:38.425Z,1628957738.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:38.425Z,1628957738.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:38.426Z,1628957738.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:38.427Z,1628957738.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:38.831Z,1628957738.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDF,000,00696,189,80,80,AC,FF
2021-08-14T16:15:38.832Z,1628957738.832 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:38.833Z,1628957738.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:38.835Z,1628957738.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:39.233Z,1628957739.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:39.635Z,1628957739.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D95,000,00673,188,80,80,70,FF
2021-08-14T16:15:39.635Z,1628957739.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:40.057Z,1628957740.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161540.64*5B

2021-08-14T16:15:40.080Z,1628957740.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.560005 m, bearing: 28.976780 deg, deltaT: 4.476362 s, approachRate: -0.469131 m/s, LOS rate: 2.279759 deg/s, posRepo size: 4
2021-08-14T16:15:40.082Z,1628957740.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.560005 m,
      bearing: 28.976780 deg,
      approachRate: -0.469131 m/s,
      LOS rate: 2.279759 deg/s,
      cmd update: 6.839277 deg/s,
      cmd heading: 58.690155 deg,
      new cmd heading: 57.169231 deg.

2021-08-14T16:15:42.543Z,1628957742.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:42.861Z,1628957742.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:42.861Z,1628957742.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:42.861Z,1628957742.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:42.862Z,1628957742.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:43.261Z,1628957743.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D95,000,00673,188,80,80,70,FF
2021-08-14T16:15:43.261Z,1628957743.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:43.261Z,1628957743.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:43.263Z,1628957743.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:43.684Z,1628957743.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:44.077Z,1628957744.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,0064A,186,80,80,6F,FF
2021-08-14T16:15:44.077Z,1628957744.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:44.518Z,1628957744.518 [Micromodem](INFO): Nmea in: $SNTTA,0.050558,,,,161545.06*49

2021-08-14T16:15:44.563Z,1628957744.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.100006 m, bearing: 32.958156 deg, deltaT: 4.444013 s, approachRate: -0.553554 m/s, LOS rate: 0.895896 deg/s, posRepo size: 4
2021-08-14T16:15:44.599Z,1628957744.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.100006 m,
      bearing: 32.958156 deg,
      approachRate: -0.553554 m/s,
      LOS rate: 0.895896 deg/s,
      cmd update: 2.687689 deg/s,
      cmd heading: 89.028147 deg,
      new cmd heading: 92.019387 deg.

2021-08-14T16:15:46.911Z,1628957746.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:47.312Z,1628957747.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:47.313Z,1628957747.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:47.313Z,1628957747.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:47.314Z,1628957747.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:47.705Z,1628957747.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,0064A,186,80,80,6F,FF
2021-08-14T16:15:47.705Z,1628957747.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:47.705Z,1628957747.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:47.707Z,1628957747.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:48.104Z,1628957748.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:48.509Z,1628957748.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,0061E,186,80,80,86,FF
2021-08-14T16:15:48.509Z,1628957748.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:48.957Z,1628957748.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161549.51*54

2021-08-14T16:15:48.980Z,1628957748.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.459995 m, bearing: 30.955298 deg, deltaT: 4.466422 s, approachRate: -0.591080 m/s, LOS rate: -0.448425 deg/s, posRepo size: 4
2021-08-14T16:15:48.982Z,1628957748.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.459995 m,
      bearing: 30.955298 deg,
      approachRate: -0.591080 m/s,
      LOS rate: -0.448425 deg/s,
      cmd update: -1.345276 deg/s,
      cmd heading: 101.042137 deg,
      new cmd heading: 102.073301 deg.

2021-08-14T16:15:51.387Z,1628957751.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:51.746Z,1628957751.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:51.746Z,1628957751.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:51.747Z,1628957751.747 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:51.749Z,1628957751.749 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:52.172Z,1628957752.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,0061E,186,80,80,86,FF
2021-08-14T16:15:52.173Z,1628957752.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:52.173Z,1628957752.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:52.179Z,1628957752.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:52.561Z,1628957752.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:52.953Z,1628957752.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,005EE,189,80,80,A8,FF
2021-08-14T16:15:52.953Z,1628957752.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:53.404Z,1628957753.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161553.98*5A

2021-08-14T16:15:53.453Z,1628957753.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 22.689858 deg, deltaT: 4.423935 s, approachRate: -0.651004 m/s, LOS rate: -1.868346 deg/s, posRepo size: 4
2021-08-14T16:15:53.455Z,1628957753.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.579998 m,
      bearing: 22.689858 deg,
      approachRate: -0.651004 m/s,
      LOS rate: -1.868346 deg/s,
      cmd update: -5.605038 deg/s,
      cmd heading: 95.084159 deg,
      new cmd heading: 94.508019 deg.

2021-08-14T16:15:55.817Z,1628957755.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:15:56.225Z,1628957756.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:15:56.225Z,1628957756.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:15:56.225Z,1628957756.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:15:56.226Z,1628957756.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:15:56.601Z,1628957756.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,005EE,189,80,80,A8,FF
2021-08-14T16:15:56.601Z,1628957756.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:15:56.601Z,1628957756.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:15:56.603Z,1628957756.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:15:57.005Z,1628957757.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:15:57.424Z,1628957757.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46F,000,005C1,18A,80,80,BA,FF
2021-08-14T16:15:57.426Z,1628957757.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:15:57.834Z,1628957757.834 [Micromodem](INFO): Nmea in: $SNTTA,0.069772,,,,161558.41*46

2021-08-14T16:15:57.850Z,1628957757.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 21.508786 deg, deltaT: 4.454505 s, approachRate: -0.606128 m/s, LOS rate: -0.265141 deg/s, posRepo size: 4
2021-08-14T16:15:57.852Z,1628957757.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.879997 m,
      bearing: 21.508786 deg,
      approachRate: -0.606128 m/s,
      LOS rate: -0.265141 deg/s,
      cmd update: -0.795423 deg/s,
      cmd heading: 70.093640 deg,
      new cmd heading: 68.039875 deg.

2021-08-14T16:16:00.282Z,1628957760.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:00.656Z,1628957760.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:00.657Z,1628957760.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:00.659Z,1628957760.659 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:00.661Z,1628957760.661 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:01.037Z,1628957761.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46F,000,005C1,18A,80,80,BA,FF
2021-08-14T16:16:01.037Z,1628957761.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:01.037Z,1628957761.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:01.039Z,1628957761.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:01.473Z,1628957761.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:01.849Z,1628957761.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AB,189,80,80,85,FF
2021-08-14T16:16:01.850Z,1628957761.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:02.294Z,1628957762.294 [Micromodem](INFO): Nmea in: $SNTTA,0.048924,,,,161602.84*4D

2021-08-14T16:16:02.329Z,1628957762.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 21.620738 deg, deltaT: 4.382696 s, approachRate: -0.301184 m/s, LOS rate: 0.025544 deg/s, posRepo size: 4
2021-08-14T16:16:02.331Z,1628957762.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.560001 m,
      bearing: 21.620738 deg,
      approachRate: -0.301184 m/s,
      LOS rate: 0.025544 deg/s,
      cmd update: 0.076632 deg/s,
      cmd heading: 66.607538 deg,
      new cmd heading: 66.239717 deg.

2021-08-14T16:16:04.720Z,1628957764.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:05.073Z,1628957765.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:05.073Z,1628957765.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:05.073Z,1628957765.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:05.074Z,1628957765.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:05.481Z,1628957765.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AB,189,80,80,85,FF
2021-08-14T16:16:05.481Z,1628957765.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:05.481Z,1628957765.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:05.483Z,1628957765.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:05.892Z,1628957765.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:06.309Z,1628957766.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,486,000,00589,189,80,80,86,FF
2021-08-14T16:16:06.309Z,1628957766.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:06.313Z,1628957766.313 [Micromodem](INFO): Nmea in: $SNTTA,0.277479,0.277541,,,161607.29*58

2021-08-14T16:16:06.742Z,1628957766.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 17.209095 deg, deltaT: 4.520164 s, approachRate: -0.451310 m/s, LOS rate: -0.975992 deg/s, posRepo size: 4
2021-08-14T16:16:06.744Z,1628957766.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.520004 m,
      bearing: 17.209095 deg,
      approachRate: -0.451310 m/s,
      LOS rate: -0.975992 deg/s,
      cmd update: -2.927975 deg/s,
      cmd heading: 66.951016 deg,
      new cmd heading: 66.981194 deg.

2021-08-14T16:16:09.150Z,1628957769.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:09.517Z,1628957769.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:09.517Z,1628957769.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:09.517Z,1628957769.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:09.518Z,1628957769.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:09.925Z,1628957769.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
486,000,00589,189,80,80,86,FF
2021-08-14T16:16:09.925Z,1628957769.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:09.926Z,1628957769.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:09.927Z,1628957769.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:10.329Z,1628957770.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:10.746Z,1628957770.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DA,000,0056C,189,80,80,87,FF
2021-08-14T16:16:10.746Z,1628957770.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:11.161Z,1628957771.161 [Micromodem](INFO): Nmea in: $SNTTA,0.073059,,,,161611.73*4C

2021-08-14T16:16:11.207Z,1628957771.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 19.887247 deg, deltaT: 4.447903 s, approachRate: -0.391196 m/s, LOS rate: 0.602115 deg/s, posRepo size: 4
2021-08-14T16:16:11.210Z,1628957771.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.780003 m,
      bearing: 19.887247 deg,
      approachRate: -0.391196 m/s,
      LOS rate: 0.602115 deg/s,
      cmd update: 1.806346 deg/s,
      cmd heading: 53.816402 deg,
      new cmd heading: 52.723826 deg.

2021-08-14T16:16:13.603Z,1628957773.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:13.969Z,1628957773.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:13.969Z,1628957773.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:13.969Z,1628957773.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:13.970Z,1628957773.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:14.365Z,1628957774.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DA,000,0056C,189,80,80,87,FF
2021-08-14T16:16:14.365Z,1628957774.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:14.365Z,1628957774.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:14.367Z,1628957774.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:14.781Z,1628957774.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:15.173Z,1628957775.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,396,000,00550,18A,80,80,79,FF
2021-08-14T16:16:15.174Z,1628957775.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:15.622Z,1628957775.622 [Micromodem](INFO): Nmea in: $SNTTA,0.066479,,,,161616.17*4B

2021-08-14T16:16:15.695Z,1628957775.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 16.387912 deg, deltaT: 4.391925 s, approachRate: -0.382520 m/s, LOS rate: -0.796766 deg/s, posRepo size: 4
2021-08-14T16:16:15.698Z,1628957775.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 16.387912 deg,
      approachRate: -0.382520 m/s,
      LOS rate: -0.796766 deg/s,
      cmd update: -2.390297 deg/s,
      cmd heading: 61.735015 deg,
      new cmd heading: 62.597498 deg.

2021-08-14T16:16:18.050Z,1628957778.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:18.430Z,1628957778.430 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:18.430Z,1628957778.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:18.431Z,1628957778.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:18.431Z,1628957778.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:18.857Z,1628957778.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
396,000,00550,18A,80,80,79,FF
2021-08-14T16:16:18.857Z,1628957778.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:18.857Z,1628957778.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:18.859Z,1628957778.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:19.248Z,1628957779.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:19.661Z,1628957779.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AA,000,00249,189,80,80,AB,FF
2021-08-14T16:16:19.662Z,1628957779.662 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-14T16:16:20.085Z,1628957780.085 [Micromodem](INFO): Nmea in: $SNTTA,0.028916,,,,161620.66*46

2021-08-14T16:16:20.573Z,1628957780.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:23.311Z,1628957783.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:23.709Z,1628957783.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:23.709Z,1628957783.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:23.709Z,1628957783.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:23.710Z,1628957783.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:24.105Z,1628957784.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AA,000,00249,189,80,80,AB,FF
2021-08-14T16:16:24.106Z,1628957784.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:24.106Z,1628957784.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:24.107Z,1628957784.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:24.520Z,1628957784.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:24.905Z,1628957784.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37A,000,00504,189,80,80,89,FF
2021-08-14T16:16:24.906Z,1628957784.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:25.349Z,1628957785.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161625.91*51

2021-08-14T16:16:25.384Z,1628957785.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.540001 m, bearing: 11.189800 deg, deltaT: 9.696127 s, approachRate: -0.470291 m/s, LOS rate: -0.536102 deg/s, posRepo size: 4
2021-08-14T16:16:25.384Z,1628957785.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.54 m.
2021-08-14T16:16:25.386Z,1628957785.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.540001 m,
      bearing: 11.189800 deg,
      approachRate: -0.470291 m/s,
      LOS rate: -0.536102 deg/s,
      cmd update: -1.608306 deg/s,
      cmd heading: 38.538879 deg,
      new cmd heading: 37.436084 deg.

2021-08-14T16:16:25.774Z,1628957785.774 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:16:25.819Z,1628957785.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:16:25.819Z,1628957785.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:16:25.820Z,1628957785.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:16:25.820Z,1628957785.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:16:25.821Z,1628957785.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:16:25.821Z,1628957785.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:16:26.227Z,1628957786.227 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:16:26.227Z,1628957786.227 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:16:26.227Z,1628957786.227 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:16:26.228Z,1628957786.228 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:16:27.802Z,1628957787.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:28.152Z,1628957788.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:28.152Z,1628957788.152 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:28.153Z,1628957788.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:28.154Z,1628957788.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:28.566Z,1628957788.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37A,000,00504,189,80,80,89,FF
2021-08-14T16:16:28.566Z,1628957788.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:28.566Z,1628957788.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:28.568Z,1628957788.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:28.956Z,1628957788.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:29.372Z,1628957789.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,319,000,004E2,189,80,80,AD,FF
2021-08-14T16:16:29.373Z,1628957789.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:29.441Z,1628957789.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:16:29.776Z,1628957789.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161630.37*59

2021-08-14T16:16:29.802Z,1628957789.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 7.288311 deg, deltaT: 4.515590 s, approachRate: -0.451768 m/s, LOS rate: -0.864004 deg/s, posRepo size: 4
2021-08-14T16:16:29.802Z,1628957789.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.50 m.
2021-08-14T16:16:29.805Z,1628957789.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.500000 m,
      bearing: 7.288311 deg,
      approachRate: -0.451768 m/s,
      LOS rate: -0.864004 deg/s,
      cmd update: -2.592012 deg/s,
      cmd heading: 31.283603 deg,
      new cmd heading: 30.690861 deg.

2021-08-14T16:16:32.265Z,1628957792.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:32.581Z,1628957792.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:32.581Z,1628957792.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:32.581Z,1628957792.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:32.582Z,1628957792.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:32.985Z,1628957792.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
319,000,004E2,189,80,80,AD,FF
2021-08-14T16:16:32.985Z,1628957792.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:32.985Z,1628957792.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:32.987Z,1628957792.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:33.434Z,1628957793.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:33.789Z,1628957793.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,004BA,188,80,80,94,FF
2021-08-14T16:16:33.790Z,1628957793.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:33.839Z,1628957793.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:16:34.257Z,1628957794.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161634.79*57

2021-08-14T16:16:34.308Z,1628957794.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 1.226969 deg, deltaT: 4.398256 s, approachRate: -0.545671 m/s, LOS rate: -1.378124 deg/s, posRepo size: 4
2021-08-14T16:16:34.308Z,1628957794.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.10 m.
2021-08-14T16:16:34.310Z,1628957794.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.099998 m,
      bearing: 1.226969 deg,
      approachRate: -0.545671 m/s,
      LOS rate: -1.378124 deg/s,
      cmd update: -4.134372 deg/s,
      cmd heading: 19.883432 deg,
      new cmd heading: 18.649728 deg.

2021-08-14T16:16:36.694Z,1628957796.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:37.029Z,1628957797.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:37.029Z,1628957797.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:37.029Z,1628957797.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:37.030Z,1628957797.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:37.462Z,1628957797.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,004BA,188,80,80,94,FF
2021-08-14T16:16:37.462Z,1628957797.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:37.462Z,1628957797.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:37.465Z,1628957797.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:37.845Z,1628957797.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:38.247Z,1628957798.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,0048D,18A,80,80,53,FF
2021-08-14T16:16:38.247Z,1628957798.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:38.336Z,1628957798.336 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:16:38.681Z,1628957798.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161639.27*51

2021-08-14T16:16:38.710Z,1628957798.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 356.004158 deg, deltaT: 4.496895 s, approachRate: -0.600414 m/s, LOS rate: -1.161427 deg/s, posRepo size: 4
2021-08-14T16:16:38.711Z,1628957798.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.40 m.
2021-08-14T16:16:38.711Z,1628957798.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.40 m.
2021-08-14T16:16:38.711Z,1628957798.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:16:38.713Z,1628957798.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.399998 m,
      bearing: 356.004158 deg,
      approachRate: -0.600414 m/s,
      LOS rate: -1.161427 deg/s,
      cmd update: -3.484282 deg/s,
      cmd heading: 1.282893 deg,
      new cmd heading: 359.713903 deg.

2021-08-14T16:16:41.091Z,1628957801.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:41.477Z,1628957801.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:41.477Z,1628957801.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:41.477Z,1628957801.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:41.478Z,1628957801.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:41.873Z,1628957801.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,0048D,18A,80,80,53,FF
2021-08-14T16:16:41.873Z,1628957801.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:41.873Z,1628957801.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:41.875Z,1628957801.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:42.280Z,1628957802.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:42.694Z,1628957802.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00461,185,80,80,A2,FF
2021-08-14T16:16:42.694Z,1628957802.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:42.724Z,1628957802.724 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:16:43.131Z,1628957803.131 [Micromodem](INFO): Nmea in: $SNTTA,0.247166,,,,161643.68*49

2021-08-14T16:16:43.187Z,1628957803.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 358.384124 deg, deltaT: 4.388473 s, approachRate: -0.601575 m/s, LOS rate: 0.542322 deg/s, posRepo size: 4
2021-08-14T16:16:43.194Z,1628957803.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 358.384124 deg,
      approachRate: -0.601575 m/s,
      LOS rate: 0.542322 deg/s,
      cmd update: 1.626966 deg/s,
      cmd heading: 345.985613 deg,
      new cmd heading: 344.360324 deg.

2021-08-14T16:16:45.584Z,1628957805.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:45.917Z,1628957805.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:45.917Z,1628957805.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:45.918Z,1628957805.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:45.919Z,1628957805.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:46.317Z,1628957806.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00461,185,80,80,A2,FF
2021-08-14T16:16:46.317Z,1628957806.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:46.317Z,1628957806.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:46.319Z,1628957806.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:46.733Z,1628957806.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:47.131Z,1628957807.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00435,187,80,80,6C,FF
2021-08-14T16:16:47.131Z,1628957807.131 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:47.156Z,1628957807.156 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:16:47.569Z,1628957807.569 [Micromodem](INFO): Nmea in: $SNTTA,0.040780,,,,161648.12*44

2021-08-14T16:16:47.613Z,1628957807.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 357.023933 deg, deltaT: 4.432172 s, approachRate: -0.595645 m/s, LOS rate: -0.306890 deg/s, posRepo size: 4
2021-08-14T16:16:47.615Z,1628957807.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.119997 m,
      bearing: 357.023933 deg,
      approachRate: -0.595645 m/s,
      LOS rate: -0.306890 deg/s,
      cmd update: -0.920671 deg/s,
      cmd heading: 353.196464 deg,
      new cmd heading: 353.944756 deg.

2021-08-14T16:16:49.982Z,1628957809.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:50.353Z,1628957810.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:50.354Z,1628957810.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:50.354Z,1628957810.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:50.355Z,1628957810.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:50.814Z,1628957810.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00435,187,80,80,6C,FF
2021-08-14T16:16:50.815Z,1628957810.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:50.815Z,1628957810.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:50.817Z,1628957810.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:51.181Z,1628957811.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:51.987Z,1628957811.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,01435,187,80,80,6C,FF
2021-08-14T16:16:51.988Z,1628957811.988 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:52.002Z,1628957812.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161652.62*5D

2021-08-14T16:16:52.082Z,1628957812.082 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:16:52.470Z,1628957812.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.879974 m, bearing: 353.552339 deg, deltaT: 4.926024 s, approachRate: 49.890129 m/s, LOS rate: -0.704746 deg/s, posRepo size: 4
2021-08-14T16:16:52.474Z,1628957812.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.879974 m,
      bearing: 353.552339 deg,
      approachRate: 49.890129 m/s,
      LOS rate: -0.704746 deg/s,
      cmd update: -2.114237 deg/s,
      cmd heading: 348.670983 deg,
      new cmd heading: 348.301239 deg.

2021-08-14T16:16:52.818Z,1628957812.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:16:52.818Z,1628957812.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:16:52.819Z,1628957812.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:16:52.821Z,1628957812.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:16:52.821Z,1628957812.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:16:52.821Z,1628957812.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:16:53.224Z,1628957813.224 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:16:53.224Z,1628957813.224 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:16:53.225Z,1628957813.225 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:16:53.225Z,1628957813.225 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:16:54.819Z,1628957814.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:55.213Z,1628957815.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:55.213Z,1628957815.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:55.213Z,1628957815.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:55.214Z,1628957815.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:16:55.613Z,1628957815.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,01435,187,80,80,6C,FF
2021-08-14T16:16:55.613Z,1628957815.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:16:55.613Z,1628957815.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:16:55.615Z,1628957815.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:16:56.022Z,1628957816.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:16:56.441Z,1628957816.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,003D4,184,80,80,8D,FF
2021-08-14T16:16:56.442Z,1628957816.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:16:56.861Z,1628957816.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161657.42*5A

2021-08-14T16:16:56.883Z,1628957816.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 352.186246 deg, deltaT: 4.447137 s, approachRate: -56.571220 m/s, LOS rate: -0.307185 deg/s, posRepo size: 4
2021-08-14T16:16:56.886Z,1628957816.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 352.186246 deg,
      approachRate: -56.571220 m/s,
      LOS rate: -0.307185 deg/s,
      cmd update: -0.921554 deg/s,
      cmd heading: 339.253525 deg,
      new cmd heading: 338.491358 deg.

2021-08-14T16:16:57.266Z,1628957817.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:16:57.266Z,1628957817.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:16:57.267Z,1628957817.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:16:57.267Z,1628957817.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:16:57.267Z,1628957817.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:16:57.267Z,1628957817.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:16:57.678Z,1628957817.678 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:16:57.678Z,1628957817.678 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:16:57.679Z,1628957817.679 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:16:57.679Z,1628957817.679 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:16:59.263Z,1628957819.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:16:59.654Z,1628957819.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:16:59.654Z,1628957819.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:16:59.654Z,1628957819.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:16:59.655Z,1628957819.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:00.053Z,1628957820.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,003D4,184,80,80,8D,FF
2021-08-14T16:17:00.053Z,1628957820.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:00.053Z,1628957820.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:00.055Z,1628957820.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:00.472Z,1628957820.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:00.861Z,1628957820.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,003A6,186,80,80,84,FF
2021-08-14T16:17:00.861Z,1628957820.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:00.910Z,1628957820.910 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:01.297Z,1628957821.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161701.86*50

2021-08-14T16:17:01.329Z,1628957821.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 354.690412 deg, deltaT: 4.379960 s, approachRate: -0.630142 m/s, LOS rate: 0.571733 deg/s, posRepo size: 4
2021-08-14T16:17:01.331Z,1628957821.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.540001 m,
      bearing: 354.690412 deg,
      approachRate: -0.630142 m/s,
      LOS rate: 0.571733 deg/s,
      cmd update: 1.715198 deg/s,
      cmd heading: 335.217381 deg,
      new cmd heading: 334.824308 deg.

2021-08-14T16:17:03.729Z,1628957823.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:04.093Z,1628957824.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:04.093Z,1628957824.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:04.093Z,1628957824.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:04.094Z,1628957824.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:04.501Z,1628957824.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,003A6,186,80,80,84,FF
2021-08-14T16:17:04.501Z,1628957824.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:04.501Z,1628957824.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:04.503Z,1628957824.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:04.905Z,1628957824.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:05.309Z,1628957825.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,0037A,186,80,80,60,FF
2021-08-14T16:17:05.309Z,1628957825.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:05.330Z,1628957825.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:05.785Z,1628957825.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161706.31*5B

2021-08-14T16:17:05.837Z,1628957825.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 358.042095 deg, deltaT: 4.420530 s, approachRate: -0.597214 m/s, LOS rate: 0.758208 deg/s, posRepo size: 4
2021-08-14T16:17:05.839Z,1628957825.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 358.042095 deg,
      approachRate: -0.597214 m/s,
      LOS rate: 0.758208 deg/s,
      cmd update: 2.274625 deg/s,
      cmd heading: 342.806267 deg,
      new cmd heading: 343.681491 deg.

2021-08-14T16:17:08.217Z,1628957828.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:08.545Z,1628957828.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:08.545Z,1628957828.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:08.545Z,1628957828.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:08.546Z,1628957828.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:08.949Z,1628957828.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,0037A,186,80,80,60,FF
2021-08-14T16:17:08.949Z,1628957828.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:08.949Z,1628957828.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:08.951Z,1628957828.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:09.361Z,1628957829.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:09.749Z,1628957829.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,003E3,186,80,80,9D,FF
2021-08-14T16:17:09.750Z,1628957829.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:09.816Z,1628957829.816 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:10.213Z,1628957830.213 [Micromodem](INFO): Nmea in: $SNTTA,0.014601,,,,161710.75*40

2021-08-14T16:17:10.269Z,1628957830.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 352.365498 deg, deltaT: 4.486247 s, approachRate: 1.404292 m/s, LOS rate: -1.265333 deg/s, posRepo size: 4
2021-08-14T16:17:10.271Z,1628957830.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.199999 m,
      bearing: 352.365498 deg,
      approachRate: 1.404292 m/s,
      LOS rate: -1.265333 deg/s,
      cmd update: -3.796000 deg/s,
      cmd heading: 352.992005 deg,
      new cmd heading: 354.047206 deg.

2021-08-14T16:17:12.639Z,1628957832.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:12.985Z,1628957832.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:12.986Z,1628957832.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:12.986Z,1628957832.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:12.987Z,1628957832.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:13.386Z,1628957833.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,003E3,186,80,80,9D,FF
2021-08-14T16:17:13.387Z,1628957833.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:13.387Z,1628957833.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:13.418Z,1628957833.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:13.792Z,1628957833.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:14.229Z,1628957834.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00335,184,80,80,6B,FF
2021-08-14T16:17:14.229Z,1628957834.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:14.306Z,1628957834.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:14.634Z,1628957834.634 [Micromodem](INFO): Nmea in: $SNTTA,0.034020,,,,161715.22*40

2021-08-14T16:17:14.691Z,1628957834.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 355.992246 deg, deltaT: 4.489736 s, approachRate: -2.325304 m/s, LOS rate: 0.807787 deg/s, posRepo size: 4
2021-08-14T16:17:14.697Z,1628957834.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 355.992246 deg,
      approachRate: -2.325304 m/s,
      LOS rate: 0.807787 deg/s,
      cmd update: 2.423360 deg/s,
      cmd heading: 335.963158 deg,
      new cmd heading: 334.446500 deg.

2021-08-14T16:17:17.043Z,1628957837.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:17.438Z,1628957837.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:17.439Z,1628957837.439 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:17.439Z,1628957837.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:17.440Z,1628957837.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:17.838Z,1628957837.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00335,184,80,80,6B,FF
2021-08-14T16:17:17.838Z,1628957837.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:17.838Z,1628957837.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:17.840Z,1628957837.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:18.245Z,1628957838.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:18.646Z,1628957838.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,002F5,187,80,80,C2,FF
2021-08-14T16:17:18.647Z,1628957838.647 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:18.727Z,1628957838.727 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:19.077Z,1628957839.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161719.64*55

2021-08-14T16:17:19.113Z,1628957839.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.919999 m, bearing: 355.813405 deg, deltaT: 4.420621 s, approachRate: -0.868656 m/s, LOS rate: -0.040456 deg/s, posRepo size: 4
2021-08-14T16:17:19.115Z,1628957839.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.919999 m,
      bearing: 355.813405 deg,
      approachRate: -0.868656 m/s,
      LOS rate: -0.040456 deg/s,
      cmd update: -0.121369 deg/s,
      cmd heading: 346.695273 deg,
      new cmd heading: 347.636077 deg.

2021-08-14T16:17:21.522Z,1628957841.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:21.873Z,1628957841.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:21.873Z,1628957841.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:21.873Z,1628957841.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:21.874Z,1628957841.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:22.281Z,1628957842.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,002F5,187,80,80,C2,FF
2021-08-14T16:17:22.281Z,1628957842.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:22.281Z,1628957842.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:22.283Z,1628957842.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:22.693Z,1628957842.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:23.081Z,1628957843.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,002CF,186,80,80,A2,FF
2021-08-14T16:17:23.081Z,1628957843.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:23.102Z,1628957843.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:23.521Z,1628957843.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161724.09*50

2021-08-14T16:17:23.561Z,1628957843.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 352.456804 deg, deltaT: 4.376367 s, approachRate: -0.520980 m/s, LOS rate: -0.766983 deg/s, posRepo size: 4
2021-08-14T16:17:23.563Z,1628957843.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 352.456804 deg,
      approachRate: -0.520980 m/s,
      LOS rate: -0.766983 deg/s,
      cmd update: -2.300950 deg/s,
      cmd heading: 346.163832 deg,
      new cmd heading: 346.107701 deg.

2021-08-14T16:17:25.937Z,1628957845.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:26.313Z,1628957846.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:26.313Z,1628957846.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:26.314Z,1628957846.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:26.315Z,1628957846.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:26.729Z,1628957846.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,002CF,186,80,80,A2,FF
2021-08-14T16:17:26.730Z,1628957846.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:26.730Z,1628957846.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:26.731Z,1628957846.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:27.130Z,1628957847.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:27.525Z,1628957847.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,002B1,184,80,80,A9,FF
2021-08-14T16:17:27.525Z,1628957847.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:27.591Z,1628957847.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:27.965Z,1628957847.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161728.53*53

2021-08-14T16:17:27.984Z,1628957847.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.839998 m, bearing: 354.398845 deg, deltaT: 4.492639 s, approachRate: -0.400655 m/s, LOS rate: 0.432272 deg/s, posRepo size: 4
2021-08-14T16:17:27.986Z,1628957847.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 354.398845 deg,
      approachRate: -0.400655 m/s,
      LOS rate: 0.432272 deg/s,
      cmd update: 1.296816 deg/s,
      cmd heading: 335.851210 deg,
      new cmd heading: 334.923128 deg.

2021-08-14T16:17:30.458Z,1628957850.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:30.777Z,1628957850.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:30.777Z,1628957850.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:30.777Z,1628957850.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:30.778Z,1628957850.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:31.169Z,1628957851.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,002B1,184,80,80,A9,FF
2021-08-14T16:17:31.170Z,1628957851.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:31.170Z,1628957851.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:31.172Z,1628957851.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:31.569Z,1628957851.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:31.973Z,1628957851.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,002B3,187,80,80,A2,FF
2021-08-14T16:17:31.973Z,1628957851.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:31.994Z,1628957851.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:32.430Z,1628957852.430 [Micromodem](INFO): Nmea in: $SNTTA,0.030413,,,,161732.97*4B

2021-08-14T16:17:32.499Z,1628957852.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.959999 m, bearing: 348.698260 deg, deltaT: 4.398204 s, approachRate: 0.027284 m/s, LOS rate: -1.296117 deg/s, posRepo size: 4
2021-08-14T16:17:32.505Z,1628957852.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 348.698260 deg,
      approachRate: 0.027284 m/s,
      LOS rate: -1.296117 deg/s,
      cmd update: -3.888350 deg/s,
      cmd heading: 341.570981 deg,
      new cmd heading: 342.230107 deg.

2021-08-14T16:17:34.831Z,1628957854.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:35.201Z,1628957855.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:35.201Z,1628957855.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:35.201Z,1628957855.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:35.202Z,1628957855.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:35.605Z,1628957855.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,002B3,187,80,80,A2,FF
2021-08-14T16:17:35.605Z,1628957855.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:35.605Z,1628957855.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:35.607Z,1628957855.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:36.021Z,1628957856.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:36.433Z,1628957856.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,002D4,187,80,80,5E,FF
2021-08-14T16:17:36.433Z,1628957856.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:36.511Z,1628957856.511 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:36.854Z,1628957856.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161737.41*5E

2021-08-14T16:17:36.871Z,1628957856.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 344.438490 deg, deltaT: 4.517155 s, approachRate: 0.438329 m/s, LOS rate: -0.943021 deg/s, posRepo size: 4
2021-08-14T16:17:36.873Z,1628957856.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 344.438490 deg,
      approachRate: 0.438329 m/s,
      LOS rate: -0.943021 deg/s,
      cmd update: -2.829062 deg/s,
      cmd heading: 324.006741 deg,
      new cmd heading: 322.596852 deg.

2021-08-14T16:17:39.288Z,1628957859.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:39.650Z,1628957859.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:39.650Z,1628957859.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:39.650Z,1628957859.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:39.651Z,1628957859.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:40.053Z,1628957860.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,002D4,187,80,80,5E,FF
2021-08-14T16:17:40.053Z,1628957860.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:40.054Z,1628957860.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:40.055Z,1628957860.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:40.481Z,1628957860.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:40.861Z,1628957860.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00325,184,80,80,B2,FF
2021-08-14T16:17:40.862Z,1628957860.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:40.923Z,1628957860.923 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:41.309Z,1628957861.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161741.86*54

2021-08-14T16:17:41.331Z,1628957861.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 327.007819 deg, deltaT: 4.411686 s, approachRate: 1.101620 m/s, LOS rate: -3.951022 deg/s, posRepo size: 4
2021-08-14T16:17:41.334Z,1628957861.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.800001 m,
      bearing: 327.007819 deg,
      approachRate: 1.101620 m/s,
      LOS rate: -3.951022 deg/s,
      cmd update: -11.853068 deg/s,
      cmd heading: 311.537820 deg,
      new cmd heading: 310.361267 deg.

2021-08-14T16:17:43.725Z,1628957863.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:44.101Z,1628957864.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:44.101Z,1628957864.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:44.101Z,1628957864.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:44.102Z,1628957864.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:44.505Z,1628957864.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00325,184,80,80,B2,FF
2021-08-14T16:17:44.506Z,1628957864.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:44.506Z,1628957864.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:44.508Z,1628957864.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:44.943Z,1628957864.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:45.348Z,1628957865.348 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,00336,186,80,80,71,FF
2021-08-14T16:17:45.349Z,1628957865.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:45.379Z,1628957865.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:45.789Z,1628957865.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161746.31*5F

2021-08-14T16:17:45.831Z,1628957865.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 298.829164 deg, deltaT: 4.456028 s, approachRate: 0.228903 m/s, LOS rate: -6.323716 deg/s, posRepo size: 4
2021-08-14T16:17:45.837Z,1628957865.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 298.829164 deg,
      approachRate: 0.228903 m/s,
      LOS rate: -6.323716 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 258.670377 deg,
      new cmd heading: 253.271613 deg.

2021-08-14T16:17:48.245Z,1628957868.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:48.569Z,1628957868.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:48.569Z,1628957868.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:48.569Z,1628957868.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:48.570Z,1628957868.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:48.989Z,1628957868.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,00336,186,80,80,71,FF
2021-08-14T16:17:48.989Z,1628957868.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:48.989Z,1628957868.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:48.991Z,1628957868.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:49.402Z,1628957869.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:49.782Z,1628957869.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,0034C,189,80,80,29,FF
2021-08-14T16:17:49.782Z,1628957869.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:49.839Z,1628957869.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:50.225Z,1628957870.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161750.79*54

2021-08-14T16:17:50.297Z,1628957870.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 259.451839 deg, deltaT: 4.459971 s, approachRate: 0.295966 m/s, LOS rate: -8.829054 deg/s, posRepo size: 4
2021-08-14T16:17:50.297Z,1628957870.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.14 m. Rolling out.
2021-08-14T16:17:50.298Z,1628957870.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T16:17:52.672Z,1628957872.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:53.027Z,1628957873.027 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:53.027Z,1628957873.027 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:53.027Z,1628957873.027 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:53.028Z,1628957873.028 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:53.441Z,1628957873.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,0034C,189,80,80,29,FF
2021-08-14T16:17:53.441Z,1628957873.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:53.441Z,1628957873.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:53.443Z,1628957873.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:53.858Z,1628957873.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:54.229Z,1628957874.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A6,000,00379,189,80,80,44,FF
2021-08-14T16:17:54.229Z,1628957874.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:54.250Z,1628957874.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:54.670Z,1628957874.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161755.25*58

2021-08-14T16:17:54.710Z,1628957874.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.840000 m, bearing: 246.028441 deg, deltaT: 4.411063 s, approachRate: 0.612098 m/s, LOS rate: -3.043121 deg/s, posRepo size: 4
2021-08-14T16:17:57.104Z,1628957877.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:17:57.473Z,1628957877.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:17:57.473Z,1628957877.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:17:57.473Z,1628957877.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:17:57.474Z,1628957877.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:17:57.881Z,1628957877.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A6,000,00379,189,80,80,44,FF
2021-08-14T16:17:57.881Z,1628957877.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:17:57.882Z,1628957877.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:17:57.883Z,1628957877.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:17:58.277Z,1628957878.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:17:58.676Z,1628957878.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23A,000,00385,189,80,80,65,FF
2021-08-14T16:17:58.677Z,1628957878.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:17:58.730Z,1628957878.730 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:17:59.101Z,1628957879.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161759.69*5C

2021-08-14T16:17:59.123Z,1628957879.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 236.102373 deg, deltaT: 4.480130 s, approachRate: 0.160709 m/s, LOS rate: -2.215576 deg/s, posRepo size: 4
2021-08-14T16:18:00.309Z,1628957880.309 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:18:01.249Z,1628957881.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:01.553Z,1628957881.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:01.553Z,1628957881.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:01.553Z,1628957881.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:01.554Z,1628957881.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:01.966Z,1628957881.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23A,000,00385,189,80,80,65,FF
2021-08-14T16:18:01.966Z,1628957881.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:01.966Z,1628957881.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:01.968Z,1628957881.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:02.364Z,1628957882.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:02.773Z,1628957882.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,0039A,186,80,80,80,FF
2021-08-14T16:18:02.774Z,1628957882.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:02.837Z,1628957882.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:03.223Z,1628957883.223 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161803.77*53

2021-08-14T16:18:03.292Z,1628957883.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 224.836905 deg, deltaT: 4.106714 s, approachRate: 0.306815 m/s, LOS rate: -2.743183 deg/s, posRepo size: 4
2021-08-14T16:18:05.649Z,1628957885.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:06.001Z,1628957886.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:06.001Z,1628957886.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:06.001Z,1628957886.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:06.002Z,1628957886.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:06.421Z,1628957886.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,0039A,186,80,80,80,FF
2021-08-14T16:18:06.422Z,1628957886.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:06.422Z,1628957886.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:06.431Z,1628957886.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:06.820Z,1628957886.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:07.243Z,1628957887.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,003AD,185,80,80,65,FF
2021-08-14T16:18:07.243Z,1628957887.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:07.325Z,1628957887.325 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:07.650Z,1628957887.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161808.23*59

2021-08-14T16:18:07.705Z,1628957887.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 216.548047 deg, deltaT: 4.488798 s, approachRate: 0.253965 m/s, LOS rate: -1.846565 deg/s, posRepo size: 4
2021-08-14T16:18:10.086Z,1628957890.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:10.469Z,1628957890.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:10.469Z,1628957890.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:10.469Z,1628957890.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:10.470Z,1628957890.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:10.861Z,1628957890.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,003AD,185,80,80,65,FF
2021-08-14T16:18:10.861Z,1628957890.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:10.861Z,1628957890.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:10.863Z,1628957890.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:11.269Z,1628957891.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:11.662Z,1628957891.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,003B8,187,80,80,47,FF
2021-08-14T16:18:11.663Z,1628957891.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:11.722Z,1628957891.722 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:12.082Z,1628957892.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161812.67*52

2021-08-14T16:18:12.099Z,1628957892.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 206.823456 deg, deltaT: 4.396194 s, approachRate: 0.150129 m/s, LOS rate: -2.212048 deg/s, posRepo size: 4
2021-08-14T16:18:14.514Z,1628957894.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:14.887Z,1628957894.887 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:14.887Z,1628957894.887 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:14.887Z,1628957894.887 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:14.888Z,1628957894.888 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:15.294Z,1628957895.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,003B8,187,80,80,47,FF
2021-08-14T16:18:15.294Z,1628957895.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:15.294Z,1628957895.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:15.296Z,1628957895.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:15.772Z,1628957895.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:16.097Z,1628957896.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,003C2,186,80,80,81,FF
2021-08-14T16:18:16.097Z,1628957896.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:16.149Z,1628957896.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:16.540Z,1628957896.540 [Micromodem](INFO): Nmea in: $SNTTA,0.037259,,,,161817.10*43

2021-08-14T16:18:16.569Z,1628957896.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 195.624281 deg, deltaT: 4.427334 s, approachRate: 0.135521 m/s, LOS rate: -2.529553 deg/s, posRepo size: 4
2021-08-14T16:18:18.984Z,1628957898.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:19.329Z,1628957899.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:19.329Z,1628957899.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:19.329Z,1628957899.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:19.330Z,1628957899.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:19.734Z,1628957899.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,003C2,186,80,80,81,FF
2021-08-14T16:18:19.735Z,1628957899.735 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:19.735Z,1628957899.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:19.737Z,1628957899.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:20.140Z,1628957900.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:20.547Z,1628957900.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,003C4,186,80,80,74,FF
2021-08-14T16:18:20.547Z,1628957900.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:20.652Z,1628957900.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:20.998Z,1628957900.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161821.54*52

2021-08-14T16:18:21.016Z,1628957901.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 190.960382 deg, deltaT: 4.503039 s, approachRate: 0.026649 m/s, LOS rate: -1.035723 deg/s, posRepo size: 4
2021-08-14T16:18:23.466Z,1628957903.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:23.781Z,1628957903.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:23.781Z,1628957903.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:23.781Z,1628957903.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:23.782Z,1628957903.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:24.181Z,1628957904.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,003C4,186,80,80,74,FF
2021-08-14T16:18:24.181Z,1628957904.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:24.181Z,1628957904.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:24.183Z,1628957904.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:24.589Z,1628957904.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:24.993Z,1628957904.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,003D0,186,80,80,2B,FF
2021-08-14T16:18:24.993Z,1628957904.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:25.043Z,1628957905.043 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:25.406Z,1628957905.406 [Micromodem](INFO): Nmea in: $SNTTA,0.187668,0.401641,,,161825.99*57

2021-08-14T16:18:25.506Z,1628957905.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 177.595396 deg, deltaT: 4.390843 s, approachRate: 0.163977 m/s, LOS rate: -3.043832 deg/s, posRepo size: 4
2021-08-14T16:18:27.843Z,1628957907.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:28.217Z,1628957908.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:28.217Z,1628957908.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:28.217Z,1628957908.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:28.218Z,1628957908.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:28.630Z,1628957908.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,003D0,186,80,80,2B,FF
2021-08-14T16:18:28.630Z,1628957908.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:28.631Z,1628957908.631 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:28.633Z,1628957908.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:29.040Z,1628957909.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:29.453Z,1628957909.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AF,000,003DF,186,80,80,A4,FF
2021-08-14T16:18:29.454Z,1628957909.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:29.560Z,1628957909.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:29.866Z,1628957909.866 [Micromodem](INFO): Nmea in: $SNTTA,,0.039964,,,161830.44*4C

2021-08-14T16:18:29.882Z,1628957909.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 178.691614 deg, deltaT: 4.517284 s, approachRate: 0.199235 m/s, LOS rate: 0.242672 deg/s, posRepo size: 4
2021-08-14T16:18:32.287Z,1628957912.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:32.666Z,1628957912.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:32.666Z,1628957912.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:32.667Z,1628957912.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:32.667Z,1628957912.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:33.069Z,1628957913.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AF,000,003DF,186,80,80,A4,FF
2021-08-14T16:18:33.069Z,1628957913.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:33.069Z,1628957913.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:33.071Z,1628957913.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:33.489Z,1628957913.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:33.881Z,1628957913.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C7,000,00400,189,80,80,3E,FF
2021-08-14T16:18:33.881Z,1628957913.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:33.902Z,1628957913.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:34.313Z,1628957914.313 [Micromodem](INFO): Nmea in: $SNTTA,0.029619,,,,161834.87*43

2021-08-14T16:18:34.349Z,1628957914.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 164.114187 deg, deltaT: 4.341534 s, approachRate: 0.456060 m/s, LOS rate: -3.357667 deg/s, posRepo size: 4
2021-08-14T16:18:36.729Z,1628957916.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:37.113Z,1628957917.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:37.114Z,1628957917.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:37.114Z,1628957917.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:37.115Z,1628957917.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:37.509Z,1628957917.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C7,000,00400,189,80,80,3E,FF
2021-08-14T16:18:37.509Z,1628957917.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:37.509Z,1628957917.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:37.511Z,1628957917.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:37.921Z,1628957917.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:38.329Z,1628957918.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,0040E,189,80,80,67,FF
2021-08-14T16:18:38.329Z,1628957918.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:38.383Z,1628957918.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:38.757Z,1628957918.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161839.31*58

2021-08-14T16:18:38.804Z,1628957918.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 165.592677 deg, deltaT: 4.486096 s, approachRate: 0.187245 m/s, LOS rate: 0.329572 deg/s, posRepo size: 4
2021-08-14T16:18:41.225Z,1628957921.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:41.557Z,1628957921.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:41.557Z,1628957921.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:41.557Z,1628957921.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:41.558Z,1628957921.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:41.957Z,1628957921.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,0040E,189,80,80,67,FF
2021-08-14T16:18:41.958Z,1628957921.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:41.958Z,1628957921.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:41.960Z,1628957921.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:42.357Z,1628957922.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:42.765Z,1628957922.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,0042C,189,80,80,A9,FF
2021-08-14T16:18:42.766Z,1628957922.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:42.828Z,1628957922.828 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:43.233Z,1628957923.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161843.77*57

2021-08-14T16:18:43.302Z,1628957923.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 151.464772 deg, deltaT: 4.440028 s, approachRate: 0.405404 m/s, LOS rate: -3.181941 deg/s, posRepo size: 4
2021-08-14T16:18:45.633Z,1628957925.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:45.993Z,1628957925.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:45.993Z,1628957925.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:45.993Z,1628957925.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:45.994Z,1628957925.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:46.409Z,1628957926.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,0042C,189,80,80,A9,FF
2021-08-14T16:18:46.409Z,1628957926.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:46.410Z,1628957926.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:46.415Z,1628957926.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:46.800Z,1628957926.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:47.249Z,1628957927.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,363,000,00450,189,80,80,8F,FF
2021-08-14T16:18:47.249Z,1628957927.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:47.290Z,1628957927.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:47.650Z,1628957927.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161848.22*5C

2021-08-14T16:18:47.694Z,1628957927.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 156.240564 deg, deltaT: 4.462652 s, approachRate: 0.484017 m/s, LOS rate: 1.070169 deg/s, posRepo size: 4
2021-08-14T16:18:50.055Z,1628957930.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:50.465Z,1628957930.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:50.465Z,1628957930.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:50.465Z,1628957930.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:50.466Z,1628957930.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:50.847Z,1628957930.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
363,000,00450,189,80,80,8F,FF
2021-08-14T16:18:50.847Z,1628957930.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:50.847Z,1628957930.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:50.849Z,1628957930.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:51.276Z,1628957931.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:51.657Z,1628957931.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,00472,189,80,80,73,FF
2021-08-14T16:18:51.657Z,1628957931.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:51.716Z,1628957931.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:52.093Z,1628957932.093 [Micromodem](INFO): Nmea in: $SNTTA,0.135490,,,,161852.65*40

2021-08-14T16:18:52.128Z,1628957932.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.779999 m, bearing: 160.090864 deg, deltaT: 4.425416 s, approachRate: 0.460973 m/s, LOS rate: 0.870043 deg/s, posRepo size: 4
2021-08-14T16:18:54.519Z,1628957934.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:54.889Z,1628957934.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:54.889Z,1628957934.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:54.889Z,1628957934.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:54.890Z,1628957934.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:55.289Z,1628957935.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,00472,189,80,80,73,FF
2021-08-14T16:18:55.290Z,1628957935.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:55.290Z,1628957935.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:55.291Z,1628957935.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:18:55.709Z,1628957935.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:18:56.101Z,1628957936.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,313,000,0049A,189,80,80,6F,FF
2021-08-14T16:18:56.102Z,1628957936.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:18:56.144Z,1628957936.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:18:56.526Z,1628957936.526 [Micromodem](INFO): Nmea in: $SNTTA,0.064309,,,,161857.10*45

2021-08-14T16:18:56.576Z,1628957936.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 160.928956 deg, deltaT: 4.428492 s, approachRate: 0.541946 m/s, LOS rate: 0.189250 deg/s, posRepo size: 4
2021-08-14T16:18:58.946Z,1628957938.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:18:59.329Z,1628957939.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:18:59.330Z,1628957939.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:18:59.330Z,1628957939.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:18:59.331Z,1628957939.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:18:59.729Z,1628957939.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
313,000,0049A,189,80,80,6F,FF
2021-08-14T16:18:59.729Z,1628957939.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:18:59.730Z,1628957939.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:18:59.731Z,1628957939.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:00.149Z,1628957940.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:00.537Z,1628957940.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,004CE,186,80,80,A5,FF
2021-08-14T16:19:00.537Z,1628957940.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:00.597Z,1628957940.597 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:19:00.990Z,1628957940.990 [Micromodem](INFO): Nmea in: $SNTTA,0.039258,,,,161901.54*4A

2021-08-14T16:19:01.012Z,1628957941.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 181.964026 deg, deltaT: 4.452201 s, approachRate: 0.700776 m/s, LOS rate: 4.724645 deg/s, posRepo size: 4
2021-08-14T16:19:03.457Z,1628957943.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:03.777Z,1628957943.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:03.777Z,1628957943.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:03.777Z,1628957943.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:03.778Z,1628957943.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:04.185Z,1628957944.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,004CE,186,80,80,A5,FF
2021-08-14T16:19:04.185Z,1628957944.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:04.186Z,1628957944.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:04.187Z,1628957944.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:04.595Z,1628957944.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:04.984Z,1628957944.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC0,000,004EC,18A,80,80,5F,FF
2021-08-14T16:19:04.985Z,1628957944.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:05.036Z,1628957945.036 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:19:05.410Z,1628957945.410 [Micromodem](INFO): Nmea in: $SNTTA,0.133016,,,,161906.01*4E

2021-08-14T16:19:05.508Z,1628957945.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 241.965353 deg, deltaT: 4.439896 s, approachRate: 0.405416 m/s, LOS rate: 13.514129 deg/s, posRepo size: 4
2021-08-14T16:19:07.842Z,1628957947.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:08.232Z,1628957948.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:08.232Z,1628957948.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:08.233Z,1628957948.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:08.233Z,1628957948.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:08.622Z,1628957948.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC0,000,004EC,18A,80,80,5F,FF
2021-08-14T16:19:08.622Z,1628957948.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:08.622Z,1628957948.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:08.625Z,1628957948.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:09.033Z,1628957949.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:09.457Z,1628957949.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00518,189,80,80,56,FF
2021-08-14T16:19:09.458Z,1628957949.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:09.461Z,1628957949.461 [Micromodem](INFO): Nmea in: $SNTTA,0.220749,0.220837,,,161910.43*51

2021-08-14T16:19:09.569Z,1628957949.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:19:09.870Z,1628957949.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.739998 m, bearing: 137.315653 deg, deltaT: 4.532649 s, approachRate: 0.582441 m/s, LOS rate: -23.087977 deg/s, posRepo size: 4
2021-08-14T16:19:10.265Z,1628957950.265 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:19:10.265Z,1628957950.265 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:19:10.266Z,1628957950.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:19:10.266Z,1628957950.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:19:10.266Z,1628957950.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:19:10.267Z,1628957950.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:19:10.682Z,1628957950.682 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:19:10.683Z,1628957950.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:19:10.683Z,1628957950.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:19:10.683Z,1628957950.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:19:12.276Z,1628957952.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:12.670Z,1628957952.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:12.670Z,1628957952.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:12.670Z,1628957952.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:12.671Z,1628957952.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:13.061Z,1628957953.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00518,189,80,80,56,FF
2021-08-14T16:19:13.061Z,1628957953.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:13.061Z,1628957953.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:13.063Z,1628957953.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:13.485Z,1628957953.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:13.875Z,1628957953.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00547,186,80,80,8C,FF
2021-08-14T16:19:13.875Z,1628957953.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:14.309Z,1628957954.309 [Micromodem](INFO): Nmea in: $SNTTA,0.062365,,,,161914.87*41

2021-08-14T16:19:14.351Z,1628957954.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 212.802931 deg, deltaT: 4.326485 s, approachRate: 0.651799 m/s, LOS rate: 17.447715 deg/s, posRepo size: 4
2021-08-14T16:19:16.741Z,1628957956.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:17.101Z,1628957957.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:17.101Z,1628957957.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:17.101Z,1628957957.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:17.102Z,1628957957.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:17.514Z,1628957957.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,00547,186,80,80,8C,FF
2021-08-14T16:19:17.514Z,1628957957.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:17.514Z,1628957957.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:17.516Z,1628957957.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:17.925Z,1628957957.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:18.313Z,1628957958.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00572,186,80,80,81,FF
2021-08-14T16:19:18.313Z,1628957958.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:18.761Z,1628957958.761 [Micromodem](INFO): Nmea in: $SNTTA,0.046687,,,,161919.32*4D

2021-08-14T16:19:18.788Z,1628957958.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 221.147250 deg, deltaT: 4.437586 s, approachRate: 0.581398 m/s, LOS rate: 1.880373 deg/s, posRepo size: 4
2021-08-14T16:19:21.235Z,1628957961.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:21.545Z,1628957961.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:21.545Z,1628957961.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:21.545Z,1628957961.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:21.546Z,1628957961.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:21.949Z,1628957961.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00572,186,80,80,81,FF
2021-08-14T16:19:21.949Z,1628957961.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:21.949Z,1628957961.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:21.951Z,1628957961.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:22.357Z,1628957962.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:22.757Z,1628957962.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5F,000,0059F,186,80,80,63,FF
2021-08-14T16:19:22.758Z,1628957962.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:23.233Z,1628957963.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161923.76*51

2021-08-14T16:19:23.284Z,1628957963.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 221.632849 deg, deltaT: 4.481713 s, approachRate: 0.602448 m/s, LOS rate: 0.108351 deg/s, posRepo size: 4
2021-08-14T16:19:25.633Z,1628957965.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:25.989Z,1628957965.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:25.989Z,1628957965.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:25.989Z,1628957965.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:25.990Z,1628957965.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:26.417Z,1628957966.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5F,000,0059F,186,80,80,63,FF
2021-08-14T16:19:26.417Z,1628957966.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:26.418Z,1628957966.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:26.434Z,1628957966.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:26.809Z,1628957966.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:27.279Z,1628957967.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,005CA,187,80,80,9A,FF
2021-08-14T16:19:27.281Z,1628957967.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:27.288Z,1628957967.288 [Micromodem](INFO): Nmea in: $SNTTA,0.317050,0.316732,,,161928.24*5F

2021-08-14T16:19:27.663Z,1628957967.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.420002 m, bearing: 227.349048 deg, deltaT: 4.609544 s, approachRate: 0.559709 m/s, LOS rate: 1.240079 deg/s, posRepo size: 4
2021-08-14T16:19:30.057Z,1628957970.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:30.465Z,1628957970.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:30.465Z,1628957970.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:30.465Z,1628957970.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:30.466Z,1628957970.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:30.865Z,1628957970.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,005CA,187,80,80,9A,FF
2021-08-14T16:19:30.865Z,1628957970.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:30.865Z,1628957970.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:30.867Z,1628957970.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:31.277Z,1628957971.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:31.643Z,1628957971.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,005F4,187,80,80,52,FF
2021-08-14T16:19:31.643Z,1628957971.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:32.082Z,1628957972.082 [Micromodem](INFO): Nmea in: $SNTTA,0.053658,,,,161932.67*42

2021-08-14T16:19:32.103Z,1628957972.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 225.584414 deg, deltaT: 4.275360 s, approachRate: 0.589422 m/s, LOS rate: -0.412745 deg/s, posRepo size: 4
2021-08-14T16:19:34.519Z,1628957974.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:34.877Z,1628957974.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:34.877Z,1628957974.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:34.877Z,1628957974.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:34.878Z,1628957974.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:35.308Z,1628957975.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,005F4,187,80,80,52,FF
2021-08-14T16:19:35.308Z,1628957975.308 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:35.309Z,1628957975.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:35.311Z,1628957975.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:35.707Z,1628957975.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:36.090Z,1628957976.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00625,186,80,80,84,FF
2021-08-14T16:19:36.090Z,1628957976.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:36.507Z,1628957976.507 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161937.12*56

2021-08-14T16:19:36.563Z,1628957976.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.879997 m, bearing: 223.153919 deg, deltaT: 4.451876 s, approachRate: 0.660396 m/s, LOS rate: -0.545949 deg/s, posRepo size: 4
2021-08-14T16:19:38.931Z,1628957978.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:39.319Z,1628957979.319 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:39.319Z,1628957979.319 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:39.320Z,1628957979.320 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:39.321Z,1628957979.321 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:39.727Z,1628957979.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00625,186,80,80,84,FF
2021-08-14T16:19:39.727Z,1628957979.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:39.727Z,1628957979.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:39.729Z,1628957979.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:40.135Z,1628957980.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:40.534Z,1628957980.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00651,186,80,80,68,FF
2021-08-14T16:19:40.534Z,1628957980.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:40.974Z,1628957980.974 [Micromodem](INFO): Nmea in: $SNTTA,0.064943,,,,161941.54*47

2021-08-14T16:19:41.013Z,1628957981.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.520004 m, bearing: 223.280414 deg, deltaT: 4.417154 s, approachRate: 0.597672 m/s, LOS rate: 0.028637 deg/s, posRepo size: 4
2021-08-14T16:19:43.090Z,1628957983.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:43.366Z,1628957983.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:43.366Z,1628957983.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:43.366Z,1628957983.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:43.367Z,1628957983.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:43.757Z,1628957983.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00651,186,80,80,68,FF
2021-08-14T16:19:43.757Z,1628957983.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:43.758Z,1628957983.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:43.759Z,1628957983.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:44.173Z,1628957984.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:44.574Z,1628957984.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00681,187,80,80,6C,FF
2021-08-14T16:19:44.574Z,1628957984.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:45.023Z,1628957985.023 [Micromodem](INFO): Nmea in: $SNTTA,,0.052500,,,161945.57*4E

2021-08-14T16:19:45.050Z,1628957985.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 224.787195 deg, deltaT: 4.081375 s, approachRate: 0.705645 m/s, LOS rate: 0.369185 deg/s, posRepo size: 4
2021-08-14T16:19:47.497Z,1628957987.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:47.801Z,1628957987.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:47.801Z,1628957987.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:47.801Z,1628957987.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:47.802Z,1628957987.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:48.213Z,1628957988.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00681,187,80,80,6C,FF
2021-08-14T16:19:48.213Z,1628957988.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:48.214Z,1628957988.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:48.215Z,1628957988.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:48.619Z,1628957988.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:49.013Z,1628957989.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E02,000,006B1,187,80,80,51,FF
2021-08-14T16:19:49.013Z,1628957989.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:49.477Z,1628957989.477 [Micromodem](INFO): Nmea in: $SNTTA,,0.426339,,,161950.02*41

2021-08-14T16:19:49.543Z,1628957989.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 227.201188 deg, deltaT: 4.382776 s, approachRate: 0.657118 m/s, LOS rate: 0.550791 deg/s, posRepo size: 4
2021-08-14T16:19:51.549Z,1628957991.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:51.841Z,1628957991.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:51.841Z,1628957991.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:51.841Z,1628957991.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:51.842Z,1628957991.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:52.245Z,1628957992.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E02,000,006B1,187,80,80,51,FF
2021-08-14T16:19:52.245Z,1628957992.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:52.245Z,1628957992.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:52.247Z,1628957992.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:52.653Z,1628957992.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:53.057Z,1628957993.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,006DC,187,80,80,67,FF
2021-08-14T16:19:53.058Z,1628957993.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:53.485Z,1628957993.485 [Micromodem](INFO): Nmea in: $SNTTA,0.410574,0.410493,,,161954.05*5D

2021-08-14T16:19:53.555Z,1628957993.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.860001 m, bearing: 223.724267 deg, deltaT: 4.044379 s, approachRate: 0.637921 m/s, LOS rate: -0.859692 deg/s, posRepo size: 4
2021-08-14T16:19:55.911Z,1628957995.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:19:56.285Z,1628957996.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:19:56.285Z,1628957996.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:19:56.285Z,1628957996.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:19:56.286Z,1628957996.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:19:56.693Z,1628957996.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,006DC,187,80,80,67,FF
2021-08-14T16:19:56.693Z,1628957996.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:19:56.694Z,1628957996.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:19:56.695Z,1628957996.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:19:57.102Z,1628957997.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:19:57.505Z,1628957997.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00708,186,80,80,30,FF
2021-08-14T16:19:57.506Z,1628957997.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:19:57.937Z,1628957997.937 [Micromodem](INFO): Nmea in: $SNTTA,0.072453,,,,161958.50*40

2021-08-14T16:19:57.960Z,1628957997.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 224.591674 deg, deltaT: 4.497734 s, approachRate: 0.586962 m/s, LOS rate: 0.192854 deg/s, posRepo size: 4
2021-08-14T16:20:00.355Z,1628958000.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:00.729Z,1628958000.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:00.729Z,1628958000.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:00.729Z,1628958000.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:00.730Z,1628958000.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:01.140Z,1628958001.140 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00708,186,80,80,30,FF
2021-08-14T16:20:01.140Z,1628958001.140 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:01.141Z,1628958001.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:01.142Z,1628958001.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:01.541Z,1628958001.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:01.950Z,1628958001.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00739,189,80,80,4A,FF
2021-08-14T16:20:01.951Z,1628958001.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:02.392Z,1628958002.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162002.95*55

2021-08-14T16:20:02.446Z,1628958002.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 166.038415 deg, deltaT: 4.395052 s, approachRate: 0.668935 m/s, LOS rate: -13.322540 deg/s, posRepo size: 4
2021-08-14T16:20:04.802Z,1628958004.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:05.191Z,1628958005.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:05.192Z,1628958005.192 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:05.193Z,1628958005.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:05.200Z,1628958005.200 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:05.585Z,1628958005.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00739,189,80,80,4A,FF
2021-08-14T16:20:05.585Z,1628958005.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:05.585Z,1628958005.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:05.587Z,1628958005.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:05.993Z,1628958005.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:06.393Z,1628958006.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,00770,189,80,80,60,FF
2021-08-14T16:20:06.394Z,1628958006.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:06.837Z,1628958006.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162007.39*56

2021-08-14T16:20:06.860Z,1628958006.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 166.125500 deg, deltaT: 4.520274 s, approachRate: 0.730043 m/s, LOS rate: 0.019265 deg/s, posRepo size: 4
2021-08-14T16:20:09.300Z,1628958009.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:09.614Z,1628958009.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:09.614Z,1628958009.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:09.615Z,1628958009.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:09.616Z,1628958009.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:10.022Z,1628958010.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,00770,189,80,80,60,FF
2021-08-14T16:20:10.022Z,1628958010.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:10.022Z,1628958010.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:10.023Z,1628958010.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:10.468Z,1628958010.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:10.844Z,1628958010.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,007A0,189,80,80,75,FF
2021-08-14T16:20:10.864Z,1628958010.864 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:11.285Z,1628958011.285 [Micromodem](INFO): Nmea in: $SNTTA,0.052551,,,,162011.83*48

2021-08-14T16:20:11.354Z,1628958011.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.620003 m, bearing: 168.152851 deg, deltaT: 4.428399 s, approachRate: 0.650349 m/s, LOS rate: 0.457807 deg/s, posRepo size: 4
2021-08-14T16:20:13.729Z,1628958013.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:14.077Z,1628958014.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:14.077Z,1628958014.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:14.077Z,1628958014.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:14.078Z,1628958014.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:14.477Z,1628958014.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,007A0,189,80,80,75,FF
2021-08-14T16:20:14.477Z,1628958014.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:14.477Z,1628958014.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:14.479Z,1628958014.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:14.892Z,1628958014.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:15.281Z,1628958015.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,007D2,18A,80,80,75,FF
2021-08-14T16:20:15.281Z,1628958015.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:15.713Z,1628958015.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162016.29*57

2021-08-14T16:20:15.763Z,1628958015.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.620003 m, bearing: 168.896617 deg, deltaT: 4.428039 s, approachRate: 0.677501 m/s, LOS rate: 0.167967 deg/s, posRepo size: 4
2021-08-14T16:20:18.127Z,1628958018.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:18.520Z,1628958018.520 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:18.521Z,1628958018.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:18.521Z,1628958018.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:18.522Z,1628958018.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:18.917Z,1628958018.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,007D2,18A,80,80,75,FF
2021-08-14T16:20:18.917Z,1628958018.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:18.917Z,1628958018.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:18.919Z,1628958018.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:19.330Z,1628958019.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:19.733Z,1628958019.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,00803,189,80,80,6C,FF
2021-08-14T16:20:19.733Z,1628958019.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:20.177Z,1628958020.177 [Micromodem](INFO): Nmea in: $SNTTA,0.056511,,,,162020.73*45

2021-08-14T16:20:20.199Z,1628958020.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.559998 m, bearing: 172.585042 deg, deltaT: 4.452846 s, approachRate: 0.660251 m/s, LOS rate: 0.828330 deg/s, posRepo size: 4
2021-08-14T16:20:22.590Z,1628958022.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:22.957Z,1628958022.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:22.957Z,1628958022.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:22.957Z,1628958022.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:22.958Z,1628958022.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:23.365Z,1628958023.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,00803,189,80,80,6C,FF
2021-08-14T16:20:23.365Z,1628958023.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:23.365Z,1628958023.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:23.367Z,1628958023.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:23.785Z,1628958023.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:24.173Z,1628958024.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,00838,189,80,80,89,FF
2021-08-14T16:20:24.173Z,1628958024.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:24.626Z,1628958024.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162025.17*5A

2021-08-14T16:20:24.659Z,1628958024.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 171.745489 deg, deltaT: 4.417501 s, approachRate: 0.719866 m/s, LOS rate: -0.190052 deg/s, posRepo size: 4
2021-08-14T16:20:27.027Z,1628958027.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:27.433Z,1628958027.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:27.433Z,1628958027.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:27.433Z,1628958027.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:27.434Z,1628958027.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:27.809Z,1628958027.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,00838,189,80,80,89,FF
2021-08-14T16:20:27.809Z,1628958027.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:27.809Z,1628958027.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:27.811Z,1628958027.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:28.217Z,1628958028.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:28.626Z,1628958028.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,0086C,189,80,80,7D,FF
2021-08-14T16:20:28.627Z,1628958028.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:29.057Z,1628958029.057 [Micromodem](INFO): Nmea in: $SNTTA,0.060714,,,,162029.62*4E

2021-08-14T16:20:29.080Z,1628958029.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.860001 m, bearing: 173.576048 deg, deltaT: 4.446755 s, approachRate: 0.701634 m/s, LOS rate: 0.411662 deg/s, posRepo size: 4
2021-08-14T16:20:31.547Z,1628958031.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:31.853Z,1628958031.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:31.853Z,1628958031.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:31.854Z,1628958031.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:31.855Z,1628958031.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:32.253Z,1628958032.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,0086C,189,80,80,7D,FF
2021-08-14T16:20:32.253Z,1628958032.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:32.253Z,1628958032.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:32.255Z,1628958032.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:32.669Z,1628958032.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:33.081Z,1628958033.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,008A2,189,80,80,67,FF
2021-08-14T16:20:33.081Z,1628958033.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:33.494Z,1628958033.494 [Micromodem](INFO): Nmea in: $SNTTA,0.364396,0.364408,,,162034.06*5A

2021-08-14T16:20:33.560Z,1628958033.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 167.171120 deg, deltaT: 4.437213 s, approachRate: 0.730188 m/s, LOS rate: -1.443457 deg/s, posRepo size: 4
2021-08-14T16:20:35.958Z,1628958035.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:36.293Z,1628958036.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:36.293Z,1628958036.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:36.293Z,1628958036.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:36.294Z,1628958036.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:36.709Z,1628958036.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,008A2,189,80,80,67,FF
2021-08-14T16:20:36.709Z,1628958036.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:36.709Z,1628958036.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:36.711Z,1628958036.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:37.105Z,1628958037.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:37.514Z,1628958037.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,008D2,189,80,80,80,FF
2021-08-14T16:20:37.515Z,1628958037.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:37.941Z,1628958037.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162038.52*57

2021-08-14T16:20:37.963Z,1628958037.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 172.090632 deg, deltaT: 4.491159 s, approachRate: 0.641261 m/s, LOS rate: 1.095377 deg/s, posRepo size: 4
2021-08-14T16:20:40.354Z,1628958040.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:40.745Z,1628958040.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:40.745Z,1628958040.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:40.745Z,1628958040.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:40.745Z,1628958040.745 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:41.155Z,1628958041.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,008D2,189,80,80,80,FF
2021-08-14T16:20:41.173Z,1628958041.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:41.173Z,1628958041.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:41.180Z,1628958041.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:41.561Z,1628958041.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:41.958Z,1628958041.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,00907,188,80,80,58,FF
2021-08-14T16:20:41.958Z,1628958041.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:42.380Z,1628958042.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162042.99*5D

2021-08-14T16:20:42.443Z,1628958042.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 171.160907 deg, deltaT: 4.390331 s, approachRate: 0.724319 m/s, LOS rate: -0.211767 deg/s, posRepo size: 4
2021-08-14T16:20:44.815Z,1628958044.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:45.192Z,1628958045.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:45.193Z,1628958045.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:45.193Z,1628958045.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:45.195Z,1628958045.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:45.587Z,1628958045.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,00907,188,80,80,58,FF
2021-08-14T16:20:45.587Z,1628958045.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:45.587Z,1628958045.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:45.589Z,1628958045.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:46.005Z,1628958046.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:46.400Z,1628958046.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,0093B,186,80,80,82,FF
2021-08-14T16:20:46.402Z,1628958046.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:46.838Z,1628958046.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162047.40*5C

2021-08-14T16:20:46.864Z,1628958046.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.280006 m, bearing: 180.735616 deg, deltaT: 4.504731 s, approachRate: 0.692606 m/s, LOS rate: 2.125479 deg/s, posRepo size: 4
2021-08-14T16:20:49.304Z,1628958049.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:49.626Z,1628958049.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:49.626Z,1628958049.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:49.626Z,1628958049.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:49.627Z,1628958049.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:50.037Z,1628958050.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,0093B,186,80,80,82,FF
2021-08-14T16:20:50.037Z,1628958050.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:50.038Z,1628958050.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:50.039Z,1628958050.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:50.468Z,1628958050.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:50.845Z,1628958050.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,0096F,186,80,80,7C,FF
2021-08-14T16:20:50.845Z,1628958050.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:51.293Z,1628958051.293 [Micromodem](INFO): Nmea in: $SNTTA,0.076842,,,,162051.85*43

2021-08-14T16:20:51.352Z,1628958051.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.400009 m, bearing: 189.384029 deg, deltaT: 4.440146 s, approachRate: 0.702680 m/s, LOS rate: 1.947777 deg/s, posRepo size: 4
2021-08-14T16:20:53.706Z,1628958053.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:54.077Z,1628958054.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:54.077Z,1628958054.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:54.077Z,1628958054.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:54.078Z,1628958054.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:54.477Z,1628958054.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,0096F,186,80,80,7C,FF
2021-08-14T16:20:54.477Z,1628958054.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:54.477Z,1628958054.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:54.479Z,1628958054.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:54.897Z,1628958054.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:55.289Z,1628958055.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,009A0,189,80,80,6A,FF
2021-08-14T16:20:55.289Z,1628958055.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:20:55.293Z,1628958055.293 [Micromodem](INFO): Nmea in: $SNTTA,0.250429,0.250341,,,162056.29*5A

2021-08-14T16:20:55.747Z,1628958055.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.339996 m, bearing: 172.732643 deg, deltaT: 4.448362 s, approachRate: 0.660915 m/s, LOS rate: -3.743263 deg/s, posRepo size: 4
2021-08-14T16:20:58.146Z,1628958058.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:20:58.513Z,1628958058.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:20:58.513Z,1628958058.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:20:58.513Z,1628958058.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:20:58.514Z,1628958058.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:20:58.926Z,1628958058.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,009A0,189,80,80,6A,FF
2021-08-14T16:20:58.926Z,1628958058.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:20:58.926Z,1628958058.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:20:58.928Z,1628958058.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:20:59.321Z,1628958059.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:20:59.738Z,1628958059.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,276,000,009D1,189,80,80,56,FF
2021-08-14T16:20:59.738Z,1628958059.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:00.169Z,1628958060.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162100.73*5E

2021-08-14T16:21:00.192Z,1628958060.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.279999 m, bearing: 170.767010 deg, deltaT: 4.417183 s, approachRate: 0.665583 m/s, LOS rate: -0.444997 deg/s, posRepo size: 4
2021-08-14T16:21:02.597Z,1628958062.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:02.965Z,1628958062.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:02.965Z,1628958062.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:02.965Z,1628958062.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:02.966Z,1628958062.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:03.365Z,1628958063.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
276,000,009D1,189,80,80,56,FF
2021-08-14T16:21:03.365Z,1628958063.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:03.365Z,1628958063.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:03.369Z,1628958063.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:03.790Z,1628958063.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:04.173Z,1628958064.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E8,000,00A03,186,80,80,8D,FF
2021-08-14T16:21:04.173Z,1628958064.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:04.614Z,1628958064.614 [Micromodem](INFO): Nmea in: $SNTTA,0.090987,,,,162105.18*47

2021-08-14T16:21:04.670Z,1628958064.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.279999 m, bearing: 177.465458 deg, deltaT: 4.420625 s, approachRate: 0.678637 m/s, LOS rate: 1.515272 deg/s, posRepo size: 4
2021-08-14T16:21:07.053Z,1628958067.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:07.412Z,1628958067.412 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:07.413Z,1628958067.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:07.413Z,1628958067.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:07.415Z,1628958067.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:07.806Z,1628958067.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E8,000,00A03,186,80,80,8D,FF
2021-08-14T16:21:07.806Z,1628958067.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:07.807Z,1628958067.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:07.813Z,1628958067.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:08.217Z,1628958068.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:08.621Z,1628958068.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,00A36,187,80,80,92,FF
2021-08-14T16:21:08.621Z,1628958068.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:09.049Z,1628958069.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162109.62*57

2021-08-14T16:21:09.094Z,1628958069.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.340004 m, bearing: 176.665998 deg, deltaT: 4.483564 s, approachRate: 0.682494 m/s, LOS rate: -0.178309 deg/s, posRepo size: 4
2021-08-14T16:21:11.551Z,1628958071.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:11.845Z,1628958071.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:11.845Z,1628958071.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:11.845Z,1628958071.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:11.846Z,1628958071.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:12.249Z,1628958072.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,00A36,187,80,80,92,FF
2021-08-14T16:21:12.249Z,1628958072.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:12.249Z,1628958072.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:12.251Z,1628958072.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:12.686Z,1628958072.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:13.490Z,1628958073.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,017ED,186,80,80,51,FF
2021-08-14T16:21:13.490Z,1628958073.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:13.511Z,1628958073.511 [Micromodem](INFO): Nmea in: $SNTTA,0.219490,,,,162114.06*40

2021-08-14T16:21:13.904Z,1628958073.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 330.000000 m, bearing: 179.687155 deg, deltaT: 4.897813 s, approachRate: 43.011036 m/s, LOS rate: 0.616838 deg/s, posRepo size: 4
2021-08-14T16:21:13.904Z,1628958073.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 330.00 m. Resuming terminal guidance.
2021-08-14T16:21:13.904Z,1628958073.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:21:16.307Z,1628958076.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:16.701Z,1628958076.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:16.701Z,1628958076.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:16.701Z,1628958076.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:16.702Z,1628958076.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:17.097Z,1628958077.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,017ED,186,80,80,51,FF
2021-08-14T16:21:17.097Z,1628958077.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:17.097Z,1628958077.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:17.099Z,1628958077.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:17.505Z,1628958077.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:18.330Z,1628958078.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162118.91*5B

2021-08-14T16:21:19.161Z,1628958079.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:20.741Z,1628958080.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,51,FF
2021-08-14T16:21:20.741Z,1628958080.741 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,51,FF
2021-08-14T16:21:20.741Z,1628958080.741 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:21:21.963Z,1628958081.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:22.349Z,1628958082.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:22.349Z,1628958082.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:22.349Z,1628958082.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:22.350Z,1628958082.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:22.761Z,1628958082.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,51,FF
2021-08-14T16:21:22.761Z,1628958082.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:22.761Z,1628958082.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:22.763Z,1628958082.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:23.197Z,1628958083.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:23.573Z,1628958083.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,00AD7,186,80,80,88,FF
2021-08-14T16:21:23.574Z,1628958083.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:23.994Z,1628958083.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162124.57*5E

2021-08-14T16:21:24.020Z,1628958084.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.000000 m, bearing: 180.363030 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:21:24.021Z,1628958084.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 180.363030deg and heading rate command to 0 deg/s.
2021-08-14T16:21:26.465Z,1628958086.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:26.797Z,1628958086.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:26.797Z,1628958086.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:26.797Z,1628958086.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:26.798Z,1628958086.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:27.241Z,1628958087.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,00AD7,186,80,80,88,FF
2021-08-14T16:21:27.241Z,1628958087.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:27.241Z,1628958087.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:27.243Z,1628958087.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:27.631Z,1628958087.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:28.014Z,1628958088.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00B09,188,80,80,88,FF
2021-08-14T16:21:28.014Z,1628958088.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:28.446Z,1628958088.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162129.05*54

2021-08-14T16:21:28.471Z,1628958088.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.000000 m, bearing: 173.763346 deg, deltaT: 4.464405 s, approachRate: 0.671982 m/s, LOS rate: -1.478290 deg/s, posRepo size: 2
2021-08-14T16:21:28.474Z,1628958088.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.000000 m,
      bearing: 173.763346 deg,
      approachRate: 0.671982 m/s,
      LOS rate: -1.478290 deg/s,
      cmd update: -4.434869 deg/s,
      cmd heading: 180.363030 deg,
      new cmd heading: 180.363030 deg.

2021-08-14T16:21:30.867Z,1628958090.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:31.269Z,1628958091.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:31.269Z,1628958091.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:31.269Z,1628958091.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:31.270Z,1628958091.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:31.653Z,1628958091.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00B09,188,80,80,88,FF
2021-08-14T16:21:31.653Z,1628958091.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:31.653Z,1628958091.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:31.655Z,1628958091.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:32.057Z,1628958092.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:32.469Z,1628958092.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,00B3E,186,80,80,7A,FF
2021-08-14T16:21:32.470Z,1628958092.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:32.897Z,1628958092.897 [Micromodem](INFO): Nmea in: $SNTTA,0.091985,,,,162133.46*4A

2021-08-14T16:21:32.919Z,1628958092.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.180008 m, bearing: 208.559280 deg, deltaT: 4.430673 s, approachRate: 0.717726 m/s, LOS rate: 7.853420 deg/s, posRepo size: 3
2021-08-14T16:21:32.922Z,1628958092.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.180008 m,
      bearing: 208.559280 deg,
      approachRate: 0.717726 m/s,
      LOS rate: 7.853420 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 160.696744 deg,
      new cmd heading: 158.820413 deg.

2021-08-14T16:21:35.337Z,1628958095.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:35.689Z,1628958095.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:35.689Z,1628958095.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:35.689Z,1628958095.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:35.690Z,1628958095.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:36.089Z,1628958096.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,00B3E,186,80,80,7A,FF
2021-08-14T16:21:36.089Z,1628958096.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:36.090Z,1628958096.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:36.091Z,1628958096.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:36.496Z,1628958096.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:36.901Z,1628958096.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C6,000,00B69,189,80,80,83,FF
2021-08-14T16:21:36.902Z,1628958096.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:37.337Z,1628958097.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162137.90*57

2021-08-14T16:21:37.425Z,1628958097.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.759995 m, bearing: 120.845485 deg, deltaT: 4.462291 s, approachRate: 0.578175 m/s, LOS rate: -19.656673 deg/s, posRepo size: 4
2021-08-14T16:21:37.425Z,1628958097.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.656673 deg/s. Setting heading cmd to target bearing of 120.845485deg and heading rate command to 0 deg/s.
2021-08-14T16:21:39.817Z,1628958099.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:40.129Z,1628958100.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:40.129Z,1628958100.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:40.129Z,1628958100.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:40.130Z,1628958100.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:40.533Z,1628958100.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C6,000,00B69,189,80,80,83,FF
2021-08-14T16:21:40.533Z,1628958100.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:40.533Z,1628958100.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:40.535Z,1628958100.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:40.565Z,1628958100.565 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:21:40.942Z,1628958100.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:41.345Z,1628958101.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,00B94,187,80,80,6F,FF
2021-08-14T16:21:41.345Z,1628958101.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:41.349Z,1628958101.349 [Micromodem](INFO): Nmea in: $SNTTA,0.264399,0.264468,,,162142.34*52

2021-08-14T16:21:41.811Z,1628958101.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.340012 m, bearing: 201.748161 deg, deltaT: 4.507980 s, approachRate: 0.572322 m/s, LOS rate: 17.946547 deg/s, posRepo size: 4
2021-08-14T16:21:41.812Z,1628958101.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.946547 deg/s. Setting heading cmd to target bearing of 201.748161deg and heading rate command to 0 deg/s.
2021-08-14T16:21:44.203Z,1628958104.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:44.577Z,1628958104.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:44.577Z,1628958104.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:44.577Z,1628958104.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:44.578Z,1628958104.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:44.977Z,1628958104.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,00B94,187,80,80,6F,FF
2021-08-14T16:21:44.978Z,1628958104.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:44.978Z,1628958104.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:44.979Z,1628958104.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:45.426Z,1628958105.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:45.797Z,1628958105.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00BBF,186,80,80,6B,FF
2021-08-14T16:21:45.798Z,1628958105.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:46.217Z,1628958106.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162146.79*56

2021-08-14T16:21:46.254Z,1628958106.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.919998 m, bearing: 213.143443 deg, deltaT: 4.371308 s, approachRate: 0.590209 m/s, LOS rate: 2.606836 deg/s, posRepo size: 4
2021-08-14T16:21:46.256Z,1628958106.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.919998 m,
      bearing: 213.143443 deg,
      approachRate: 0.590209 m/s,
      LOS rate: 2.606836 deg/s,
      cmd update: 7.820508 deg/s,
      cmd heading: 201.748161 deg,
      new cmd heading: 201.748161 deg.

2021-08-14T16:21:48.665Z,1628958108.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:49.021Z,1628958109.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:49.021Z,1628958109.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:49.021Z,1628958109.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:49.022Z,1628958109.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:49.441Z,1628958109.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00BBF,186,80,80,6B,FF
2021-08-14T16:21:49.441Z,1628958109.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:49.441Z,1628958109.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:49.443Z,1628958109.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:49.841Z,1628958109.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:50.230Z,1628958110.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E31,000,00BF1,186,80,80,6B,FF
2021-08-14T16:21:50.230Z,1628958110.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:50.661Z,1628958110.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162151.25*59

2021-08-14T16:21:50.700Z,1628958110.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.919998 m, bearing: 212.265190 deg, deltaT: 4.433996 s, approachRate: 0.676591 m/s, LOS rate: -0.198073 deg/s, posRepo size: 4
2021-08-14T16:21:50.702Z,1628958110.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.919998 m,
      bearing: 212.265190 deg,
      approachRate: 0.676591 m/s,
      LOS rate: -0.198073 deg/s,
      cmd update: -0.594218 deg/s,
      cmd heading: 236.294370 deg,
      new cmd heading: 239.796643 deg.

2021-08-14T16:21:53.079Z,1628958113.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:53.469Z,1628958113.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:53.469Z,1628958113.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:53.469Z,1628958113.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:53.470Z,1628958113.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:53.877Z,1628958113.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E31,000,00BF1,186,80,80,6B,FF
2021-08-14T16:21:53.877Z,1628958113.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:53.877Z,1628958113.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:53.879Z,1628958113.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:54.281Z,1628958114.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:54.686Z,1628958114.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00C1E,187,80,80,AB,FF
2021-08-14T16:21:54.686Z,1628958114.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:21:55.113Z,1628958115.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162155.69*55

2021-08-14T16:21:55.158Z,1628958115.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.620010 m, bearing: 213.483628 deg, deltaT: 4.471111 s, approachRate: 0.603880 m/s, LOS rate: 0.272513 deg/s, posRepo size: 4
2021-08-14T16:21:55.167Z,1628958115.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.620010 m,
      bearing: 213.483628 deg,
      approachRate: 0.603880 m/s,
      LOS rate: 0.272513 deg/s,
      cmd update: 0.817540 deg/s,
      cmd heading: 233.627813 deg,
      new cmd heading: 233.381368 deg.

2021-08-14T16:21:57.563Z,1628958117.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:21:57.905Z,1628958117.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:21:57.905Z,1628958117.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:21:57.905Z,1628958117.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:21:57.906Z,1628958117.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:21:58.313Z,1628958118.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00C1E,187,80,80,AB,FF
2021-08-14T16:21:58.314Z,1628958118.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:21:58.314Z,1628958118.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:21:58.315Z,1628958118.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:21:58.716Z,1628958118.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:21:59.550Z,1628958119.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162200.12*5A

2021-08-14T16:22:00.346Z,1628958120.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:01.945Z,1628958121.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,AB,FF
2021-08-14T16:22:01.945Z,1628958121.945 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,AB,FF
2021-08-14T16:22:01.945Z,1628958121.945 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:22:03.241Z,1628958123.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:03.577Z,1628958123.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:03.577Z,1628958123.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:03.577Z,1628958123.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:03.578Z,1628958123.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:03.977Z,1628958123.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,AB,FF
2021-08-14T16:22:03.977Z,1628958123.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:03.978Z,1628958123.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:03.979Z,1628958123.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:04.374Z,1628958124.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:05.194Z,1628958125.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00C86,186,80,80,91,FF
2021-08-14T16:22:05.195Z,1628958125.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:05.219Z,1628958125.219 [Micromodem](INFO): Nmea in: $SNTTA,0.239423,,,,162205.83*44

2021-08-14T16:22:05.642Z,1628958125.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.860016 m, bearing: 264.780042 deg, deltaT: 10.563914 s, approachRate: 0.590691 m/s, LOS rate: 4.855815 deg/s, posRepo size: 4
2021-08-14T16:22:05.646Z,1628958125.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 264.780042 deg,
      approachRate: 0.590691 m/s,
      LOS rate: 4.855815 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.264399 deg,
      new cmd heading: 242.540304 deg.

2021-08-14T16:22:08.031Z,1628958128.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:08.433Z,1628958128.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:08.433Z,1628958128.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:08.433Z,1628958128.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:08.434Z,1628958128.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:08.809Z,1628958128.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00C86,186,80,80,91,FF
2021-08-14T16:22:08.809Z,1628958128.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:08.810Z,1628958128.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:08.811Z,1628958128.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:09.256Z,1628958129.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:09.626Z,1628958129.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D79,000,00CAD,189,80,80,91,FF
2021-08-14T16:22:09.627Z,1628958129.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:10.065Z,1628958130.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162210.62*5C

2021-08-14T16:22:10.088Z,1628958130.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.200012 m, bearing: 284.372331 deg, deltaT: 4.384951 s, approachRate: 0.533643 m/s, LOS rate: 4.468075 deg/s, posRepo size: 4
2021-08-14T16:22:10.090Z,1628958130.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 284.372331 deg,
      approachRate: 0.533643 m/s,
      LOS rate: 4.468075 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 294.883212 deg,
      new cmd heading: 299.674501 deg.

2021-08-14T16:22:12.502Z,1628958132.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:12.857Z,1628958132.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:12.857Z,1628958132.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:12.857Z,1628958132.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:12.858Z,1628958132.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:13.281Z,1628958133.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D79,000,00CAD,189,80,80,91,FF
2021-08-14T16:22:13.281Z,1628958133.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:13.281Z,1628958133.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:13.283Z,1628958133.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:13.691Z,1628958133.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:13.705Z,1628958133.705 [Micromodem](INFO): Nmea in: 162215.09*55

2021-08-14T16:22:13.706Z,1628958133.706 [Micromodem](ERROR): Response from modem failed NMEA checksum: 162215.09*55
 expected 0
2021-08-14T16:22:14.081Z,1628958134.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C32,000,00CAD,189,80,80,91,FF
2021-08-14T16:22:14.082Z,1628958134.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:14.534Z,1628958134.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.200012 m, bearing: 317.831351 deg, deltaT: 4.443189 s, approachRate: 0.000000 m/s, LOS rate: 7.530407 deg/s, posRepo size: 4
2021-08-14T16:22:14.536Z,1628958134.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 317.831351 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.530407 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 348.245798 deg,
      new cmd heading: 353.031638 deg.

2021-08-14T16:22:14.946Z,1628958134.946 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T16:22:14.946Z,1628958134.946 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T16:22:14.946Z,1628958134.946 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T16:22:14.946Z,1628958134.946 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T16:22:14.946Z,1628958134.946 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T16:22:15.519Z,1628958135.519 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD17612D0000005D00000400320000000000000000151D80030C5669C08C799858CC7A4DF9153FEE77F874160B41CD89327BF9B9266D487A1518BA1B6D3555
2021-08-14T16:22:15.520Z,1628958135.520 [Micromodem](INFO): Outgoing frame #2, 7 bytes: BBAF9605A92C60
2021-08-14T16:22:15.520Z,1628958135.520 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T16:22:15.769Z,1628958135.769 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T16:22:16.169Z,1628958136.169 [Micromodem](INFO): Nmea in: $CADRQ,162217,1,10,0,64,1*77

2021-08-14T16:22:16.169Z,1628958136.169 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD17612D0000005D00000400320000000000000000151D80030C5669C08C799858CC7A4DF9153FEE77F874160B41CD89327BF9B9266D487A1518BA1B6D3555*4E

2021-08-14T16:22:16.565Z,1628958136.565 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T16:22:16.958Z,1628958136.958 [Micromodem](INFO): Nmea in: $CADRQ,162217,1,10,0,64,2*74

2021-08-14T16:22:16.959Z,1628958136.959 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,BBAF9605A92C60*4B

2021-08-14T16:22:17.277Z,1628958137.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:17.475Z,1628958137.475 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:17.475Z,1628958137.475 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:17.475Z,1628958137.475 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:17.476Z,1628958137.476 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:17.482Z,1628958137.482 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-14T16:22:17.845Z,1628958137.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C32,000,00CAD,189,80,80,91,FF
2021-08-14T16:22:17.845Z,1628958137.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:17.845Z,1628958137.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:17.847Z,1628958137.847 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-14T16:22:17.848Z,1628958137.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:19.893Z,1628958139.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:20.270Z,1628958140.270 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-14T16:22:20.270Z,1628958140.270 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-14T16:22:20.691Z,1628958140.691 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,162218.744466,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*59

2021-08-14T16:22:20.691Z,1628958140.691 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,162218.744466,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*59

2021-08-14T16:22:22.446Z,1628958142.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:22.813Z,1628958142.813 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T16:22:23.224Z,1628958143.224 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T16:22:23.225Z,1628958143.225 [Micromodem](INFO): Sent 63 bytes from file Logs/20210814T125729/Courier0045.lzma.parts
2021-08-14T16:22:23.225Z,1628958143.225 [Micromodem](INFO): Packets left to send: 0
2021-08-14T16:22:23.616Z,1628958143.616 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.139999
2021-08-14T16:22:23.630Z,1628958143.630 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814162223.580931,06,32767,45,0141,0150,14,01,01,00,01,1,010,001,0,4,1,0,150,17.1,8.26,17,-5.26,-01,0.14,38,14500,4000*61

2021-08-14T16:22:23.631Z,1628958143.631 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814162223.580931,06,32767,45,0141,0150,14,01,01,00,01,1,010,001,0,4,1,0,150,17.1,8.26,17,-5.26,-01,0.14,38,14500,4000*61

2021-08-14T16:22:24.209Z,1628958144.209 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T16:22:24.209Z,1628958144.209 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T16:22:24.209Z,1628958144.209 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T16:22:24.209Z,1628958144.209 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T16:22:24.209Z,1628958144.209 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T16:22:25.131Z,1628958145.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:25.517Z,1628958145.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:25.517Z,1628958145.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:25.517Z,1628958145.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:25.518Z,1628958145.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:25.950Z,1628958145.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C32,000,00CAD,189,80,80,91,FF
2021-08-14T16:22:25.951Z,1628958145.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:25.962Z,1628958145.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:27.633Z,1628958147.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:29.158Z,1628958149.158 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:29.554Z,1628958149.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:29.973Z,1628958149.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBF,000,00CC0,189,80,80,91,FF
2021-08-14T16:22:29.974Z,1628958149.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:30.427Z,1628958150.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162230.97*54

2021-08-14T16:22:30.465Z,1628958150.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.339996 m, bearing: 29.144998 deg, deltaT: 15.892436 s, approachRate: 0.071731 m/s, LOS rate: 4.487269 deg/s, posRepo size: 4
2021-08-14T16:22:30.467Z,1628958150.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 29.144998 deg,
      approachRate: 0.071731 m/s,
      LOS rate: 4.487269 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 178.911176 deg,
      new cmd heading: 184.196120 deg.

2021-08-14T16:22:32.821Z,1628958152.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:33.233Z,1628958153.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:33.233Z,1628958153.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:33.233Z,1628958153.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:33.234Z,1628958153.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:33.597Z,1628958153.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBF,000,00CC0,189,80,80,91,FF
2021-08-14T16:22:33.597Z,1628958153.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:33.597Z,1628958153.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:33.599Z,1628958153.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:34.013Z,1628958154.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:34.425Z,1628958154.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5B,000,00C9F,189,80,80,C1,FF
2021-08-14T16:22:34.426Z,1628958154.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:34.849Z,1628958154.849 [Micromodem](INFO): Nmea in: $SNTTA,0.119547,,,,162235.41*4B

2021-08-14T16:22:34.875Z,1628958154.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.360016 m, bearing: 31.106512 deg, deltaT: 4.459515 s, approachRate: -0.443990 m/s, LOS rate: 0.439849 deg/s, posRepo size: 4
2021-08-14T16:22:34.902Z,1628958154.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.360016 m,
      bearing: 31.106512 deg,
      approachRate: -0.443990 m/s,
      LOS rate: 0.439849 deg/s,
      cmd update: 1.319548 deg/s,
      cmd heading: 232.425166 deg,
      new cmd heading: 237.126922 deg.

2021-08-14T16:22:37.315Z,1628958157.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:37.642Z,1628958157.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:37.642Z,1628958157.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:37.642Z,1628958157.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:37.643Z,1628958157.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:38.041Z,1628958158.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5B,000,00C9F,189,80,80,C1,FF
2021-08-14T16:22:38.041Z,1628958158.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:38.041Z,1628958158.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:38.043Z,1628958158.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:38.472Z,1628958158.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:38.850Z,1628958158.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B80,000,00C84,18A,80,80,C1,FF
2021-08-14T16:22:38.850Z,1628958158.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:39.298Z,1628958159.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162239.85*5E

2021-08-14T16:22:39.336Z,1628958159.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.740005 m, bearing: 26.062016 deg, deltaT: 4.408245 s, approachRate: -0.367496 m/s, LOS rate: -1.144332 deg/s, posRepo size: 4
2021-08-14T16:22:39.338Z,1628958159.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.740005 m,
      bearing: 26.062016 deg,
      approachRate: -0.367496 m/s,
      LOS rate: -1.144332 deg/s,
      cmd update: -3.432996 deg/s,
      cmd heading: 238.215632 deg,
      new cmd heading: 238.828139 deg.

2021-08-14T16:22:41.714Z,1628958161.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:42.099Z,1628958162.099 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:42.100Z,1628958162.100 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:42.100Z,1628958162.100 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:42.101Z,1628958162.101 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:42.485Z,1628958162.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B80,000,00C84,18A,80,80,C1,FF
2021-08-14T16:22:42.485Z,1628958162.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:42.485Z,1628958162.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:42.487Z,1628958162.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:42.905Z,1628958162.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:43.302Z,1628958163.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,00C77,186,80,80,40,FF
2021-08-14T16:22:43.302Z,1628958163.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:43.742Z,1628958163.742 [Micromodem](INFO): Nmea in: $SNTTA,0.288995,,,,162244.29*4B

2021-08-14T16:22:43.768Z,1628958163.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.959991 m, bearing: 299.722525 deg, deltaT: 4.486410 s, approachRate: -0.173862 m/s, LOS rate: -19.244671 deg/s, posRepo size: 4
2021-08-14T16:22:43.769Z,1628958163.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.244671 deg/s. Setting heading cmd to target bearing of 299.722525deg and heading rate command to 0 deg/s.
2021-08-14T16:22:46.302Z,1628958166.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:46.521Z,1628958166.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:46.521Z,1628958166.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:46.522Z,1628958166.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:46.523Z,1628958166.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:46.937Z,1628958166.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,00C77,186,80,80,40,FF
2021-08-14T16:22:46.937Z,1628958166.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:46.937Z,1628958166.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:46.939Z,1628958166.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:47.340Z,1628958167.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:47.753Z,1628958167.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00C74,186,80,80,A2,FF
2021-08-14T16:22:47.754Z,1628958167.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:48.181Z,1628958168.181 [Micromodem](INFO): Nmea in: $SNTTA,0.061977,,,,162248.75*47

2021-08-14T16:22:48.216Z,1628958168.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.779999 m, bearing: 315.228175 deg, deltaT: 4.389362 s, approachRate: -0.041007 m/s, LOS rate: 3.532552 deg/s, posRepo size: 4
2021-08-14T16:22:48.218Z,1628958168.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.779999 m,
      bearing: 315.228175 deg,
      approachRate: -0.041007 m/s,
      LOS rate: 3.532552 deg/s,
      cmd update: 10.597657 deg/s,
      cmd heading: 299.722525 deg,
      new cmd heading: 299.722525 deg.

2021-08-14T16:22:50.609Z,1628958170.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:50.996Z,1628958170.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:50.996Z,1628958170.996 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:50.997Z,1628958170.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:50.999Z,1628958170.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:51.374Z,1628958171.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00C74,186,80,80,A2,FF
2021-08-14T16:22:51.374Z,1628958171.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:51.374Z,1628958171.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:51.376Z,1628958171.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:51.797Z,1628958171.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:52.185Z,1628958172.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF0,000,00C7E,189,80,80,A2,FF
2021-08-14T16:22:52.186Z,1628958172.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:52.634Z,1628958172.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162253.19*57

2021-08-14T16:22:52.701Z,1628958172.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.380005 m, bearing: 332.505220 deg, deltaT: 4.464749 s, approachRate: 0.134387 m/s, LOS rate: 3.869656 deg/s, posRepo size: 4
2021-08-14T16:22:52.703Z,1628958172.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.380005 m,
      bearing: 332.505220 deg,
      approachRate: 0.134387 m/s,
      LOS rate: 3.869656 deg/s,
      cmd update: 11.608969 deg/s,
      cmd heading: 346.999932 deg,
      new cmd heading: 351.841789 deg.

2021-08-14T16:22:54.618Z,1628958174.618 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T16:22:55.046Z,1628958175.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:55.441Z,1628958175.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:55.441Z,1628958175.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:55.442Z,1628958175.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:55.443Z,1628958175.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:22:55.822Z,1628958175.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF0,000,00C7E,189,80,80,A2,FF
2021-08-14T16:22:55.822Z,1628958175.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:22:55.822Z,1628958175.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:22:55.826Z,1628958175.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:22:56.233Z,1628958176.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:22:56.631Z,1628958176.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00C91,189,80,80,A2,FF
2021-08-14T16:22:56.631Z,1628958176.631 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:22:57.073Z,1628958177.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162257.63*5E

2021-08-14T16:22:57.128Z,1628958177.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.520004 m, bearing: 252.881580 deg, deltaT: 4.475638 s, approachRate: 0.254712 m/s, LOS rate: -17.790455 deg/s, posRepo size: 4
2021-08-14T16:22:57.129Z,1628958177.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.790455 deg/s. Setting heading cmd to target bearing of 252.881580deg and heading rate command to 0 deg/s.
2021-08-14T16:22:59.546Z,1628958179.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:22:59.862Z,1628958179.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:22:59.862Z,1628958179.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:22:59.862Z,1628958179.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:22:59.863Z,1628958179.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:00.261Z,1628958180.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00C91,189,80,80,A2,FF
2021-08-14T16:23:00.261Z,1628958180.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:00.262Z,1628958180.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:00.263Z,1628958180.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:00.750Z,1628958180.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:01.082Z,1628958181.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00C93,186,80,80,BC,FF
2021-08-14T16:23:01.082Z,1628958181.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:01.514Z,1628958181.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162302.07*5D

2021-08-14T16:23:01.580Z,1628958181.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.639999 m, bearing: 329.926742 deg, deltaT: 4.427836 s, approachRate: 0.027100 m/s, LOS rate: 17.400184 deg/s, posRepo size: 4
2021-08-14T16:23:01.581Z,1628958181.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.400184 deg/s. Setting heading cmd to target bearing of 329.926742deg and heading rate command to 0 deg/s.
2021-08-14T16:23:03.937Z,1628958183.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:04.305Z,1628958184.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:04.305Z,1628958184.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:04.305Z,1628958184.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:04.306Z,1628958184.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:04.713Z,1628958184.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00C93,186,80,80,BC,FF
2021-08-14T16:23:04.713Z,1628958184.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:04.713Z,1628958184.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:04.716Z,1628958184.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:05.135Z,1628958185.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:05.522Z,1628958185.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B79,000,00C8E,18A,80,80,BC,FF
2021-08-14T16:23:05.523Z,1628958185.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:05.969Z,1628958185.969 [Micromodem](INFO): Nmea in: $SNTTA,0.103215,,,,162306.52*43

2021-08-14T16:23:06.028Z,1628958186.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.340012 m, bearing: 19.496316 deg, deltaT: 4.491338 s, approachRate: -0.066793 m/s, LOS rate: 11.036704 deg/s, posRepo size: 4
2021-08-14T16:23:06.030Z,1628958186.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.340012 m,
      bearing: 19.496316 deg,
      approachRate: -0.066793 m/s,
      LOS rate: 11.036704 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 329.926742 deg,
      new cmd heading: 329.926742 deg.

2021-08-14T16:23:08.408Z,1628958188.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:08.745Z,1628958188.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:08.745Z,1628958188.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:08.745Z,1628958188.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:08.746Z,1628958188.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:09.161Z,1628958189.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B79,000,00C8E,18A,80,80,BC,FF
2021-08-14T16:23:09.161Z,1628958189.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:09.162Z,1628958189.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:09.174Z,1628958189.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:09.567Z,1628958189.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:09.958Z,1628958189.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C8E,18A,80,80,BC,FF
2021-08-14T16:23:09.958Z,1628958189.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:10.414Z,1628958190.414 [Micromodem](INFO): Nmea in: $SNTTA,0.104694,,,,162310.98*48

2021-08-14T16:23:10.473Z,1628958190.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.340012 m, bearing: 43.670167 deg, deltaT: 4.380412 s, approachRate: 0.000000 m/s, LOS rate: 5.518625 deg/s, posRepo size: 4
2021-08-14T16:23:10.475Z,1628958190.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.340012 m,
      bearing: 43.670167 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.518625 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 22.570755 deg,
      new cmd heading: 28.158795 deg.

2021-08-14T16:23:12.813Z,1628958192.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:13.245Z,1628958193.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:13.245Z,1628958193.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:13.246Z,1628958193.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:13.247Z,1628958193.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:13.589Z,1628958193.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C8E,18A,80,80,BC,FF
2021-08-14T16:23:13.589Z,1628958193.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:13.590Z,1628958193.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:13.591Z,1628958193.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:14.000Z,1628958194.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:14.421Z,1628958194.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D19,000,00C5B,189,80,80,A7,FF
2021-08-14T16:23:14.422Z,1628958194.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:14.846Z,1628958194.846 [Micromodem](INFO): Nmea in: $SNTTA,0.118616,,,,162315.40*4F

2021-08-14T16:23:14.868Z,1628958194.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.279999 m, bearing: 35.286113 deg, deltaT: 4.497991 s, approachRate: -0.680307 m/s, LOS rate: -1.863955 deg/s, posRepo size: 4
2021-08-14T16:23:14.870Z,1628958194.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.279999 m,
      bearing: 35.286113 deg,
      approachRate: -0.680307 m/s,
      LOS rate: -1.863955 deg/s,
      cmd update: -5.591866 deg/s,
      cmd heading: 76.463296 deg,
      new cmd heading: 80.894609 deg.

2021-08-14T16:23:17.333Z,1628958197.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:17.638Z,1628958197.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:17.638Z,1628958197.638 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:17.638Z,1628958197.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:17.639Z,1628958197.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:18.037Z,1628958198.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D19,000,00C5B,189,80,80,A7,FF
2021-08-14T16:23:18.037Z,1628958198.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:18.037Z,1628958198.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:18.039Z,1628958198.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:18.472Z,1628958198.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:18.854Z,1628958198.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8F,000,00C34,18A,80,80,B1,FF
2021-08-14T16:23:18.854Z,1628958198.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:19.302Z,1628958199.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162319.85*5D

2021-08-14T16:23:19.343Z,1628958199.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.940002 m, bearing: 47.755781 deg, deltaT: 4.362340 s, approachRate: -0.536409 m/s, LOS rate: 2.858482 deg/s, posRepo size: 4
2021-08-14T16:23:19.379Z,1628958199.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 47.755781 deg,
      approachRate: -0.536409 m/s,
      LOS rate: 2.858482 deg/s,
      cmd update: 8.575444 deg/s,
      cmd heading: 52.008463 deg,
      new cmd heading: 49.377160 deg.

2021-08-14T16:23:21.729Z,1628958201.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:22.085Z,1628958202.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:22.086Z,1628958202.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:22.086Z,1628958202.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:22.087Z,1628958202.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:22.481Z,1628958202.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8F,000,00C34,18A,80,80,B1,FF
2021-08-14T16:23:22.481Z,1628958202.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:22.481Z,1628958202.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:22.483Z,1628958202.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:22.893Z,1628958202.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:23.309Z,1628958203.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00C06,184,80,80,B9,FF
2021-08-14T16:23:23.309Z,1628958203.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:23.313Z,1628958203.313 [Micromodem](INFO): Nmea in: $SNTTA,0.100215,0.289453,,,162324.29*53

2021-08-14T16:23:23.736Z,1628958203.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.180008 m, bearing: 38.564296 deg, deltaT: 4.573989 s, approachRate: -0.603411 m/s, LOS rate: -2.009512 deg/s, posRepo size: 4
2021-08-14T16:23:23.738Z,1628958203.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.180008 m,
      bearing: 38.564296 deg,
      approachRate: -0.603411 m/s,
      LOS rate: -2.009512 deg/s,
      cmd update: -6.028535 deg/s,
      cmd heading: 91.140282 deg,
      new cmd heading: 93.719887 deg.

2021-08-14T16:23:26.147Z,1628958206.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:26.529Z,1628958206.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:26.529Z,1628958206.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:26.530Z,1628958206.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:26.530Z,1628958206.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:26.925Z,1628958206.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00C06,184,80,80,B9,FF
2021-08-14T16:23:26.925Z,1628958206.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:26.925Z,1628958206.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:26.927Z,1628958206.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:27.333Z,1628958207.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:27.742Z,1628958207.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00BD5,186,80,80,B4,FF
2021-08-14T16:23:27.742Z,1628958207.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:28.173Z,1628958208.173 [Micromodem](INFO): Nmea in: $SNTTA,,0.112453,,,162328.74*4F

2021-08-14T16:23:28.195Z,1628958208.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 32.897234 deg, deltaT: 4.324342 s, approachRate: -0.679873 m/s, LOS rate: -1.310503 deg/s, posRepo size: 4
2021-08-14T16:23:28.198Z,1628958208.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.240005 m,
      bearing: 32.897234 deg,
      approachRate: -0.679873 m/s,
      LOS rate: -1.310503 deg/s,
      cmd update: -3.931509 deg/s,
      cmd heading: 65.004636 deg,
      new cmd heading: 62.440965 deg.

2021-08-14T16:23:30.609Z,1628958210.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:30.965Z,1628958210.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:30.965Z,1628958210.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:30.965Z,1628958210.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:30.966Z,1628958210.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:31.370Z,1628958211.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00BD5,186,80,80,B4,FF
2021-08-14T16:23:31.370Z,1628958211.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:31.371Z,1628958211.371 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:31.373Z,1628958211.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:31.777Z,1628958211.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:32.189Z,1628958212.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,00BAC,189,80,80,B2,FF
2021-08-14T16:23:32.190Z,1628958212.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:32.614Z,1628958212.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162333.18*51

2021-08-14T16:23:32.667Z,1628958212.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.779999 m, bearing: 28.648771 deg, deltaT: 4.436352 s, approachRate: -0.554511 m/s, LOS rate: -0.957648 deg/s, posRepo size: 4
2021-08-14T16:23:32.670Z,1628958212.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.779999 m,
      bearing: 28.648771 deg,
      approachRate: -0.554511 m/s,
      LOS rate: -0.957648 deg/s,
      cmd update: -2.872944 deg/s,
      cmd heading: 47.563736 deg,
      new cmd heading: 45.751008 deg.

2021-08-14T16:23:35.023Z,1628958215.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:35.425Z,1628958215.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:35.425Z,1628958215.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:35.425Z,1628958215.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:35.426Z,1628958215.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:35.818Z,1628958215.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,00BAC,189,80,80,B2,FF
2021-08-14T16:23:35.818Z,1628958215.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:35.818Z,1628958215.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:35.820Z,1628958215.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:36.221Z,1628958216.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:36.637Z,1628958216.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00B84,189,80,80,9C,FF
2021-08-14T16:23:36.638Z,1628958216.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:37.061Z,1628958217.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162337.63*59

2021-08-14T16:23:37.083Z,1628958217.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 29.334993 deg, deltaT: 4.494324 s, approachRate: -0.534009 m/s, LOS rate: 0.152686 deg/s, posRepo size: 4
2021-08-14T16:23:37.086Z,1628958217.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.379990 m,
      bearing: 29.334993 deg,
      approachRate: -0.534009 m/s,
      LOS rate: 0.152686 deg/s,
      cmd update: 0.458059 deg/s,
      cmd heading: 34.675004 deg,
      new cmd heading: 33.552048 deg.

2021-08-14T16:23:39.529Z,1628958219.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:39.853Z,1628958219.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:39.854Z,1628958219.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:39.854Z,1628958219.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:39.855Z,1628958219.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:40.261Z,1628958220.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00B84,189,80,80,9C,FF
2021-08-14T16:23:40.261Z,1628958220.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:40.261Z,1628958220.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:40.263Z,1628958220.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:40.677Z,1628958220.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:41.093Z,1628958221.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07B,000,00B55,186,80,80,75,FF
2021-08-14T16:23:41.093Z,1628958221.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:41.509Z,1628958221.509 [Micromodem](INFO): Nmea in: $SNTTA,0.399178,,,,162342.07*4A

2021-08-14T16:23:41.568Z,1628958221.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.559998 m, bearing: 34.815732 deg, deltaT: 4.439558 s, approachRate: -0.635197 m/s, LOS rate: 1.234523 deg/s, posRepo size: 4
2021-08-14T16:23:41.570Z,1628958221.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 34.815732 deg,
      approachRate: -0.635197 m/s,
      LOS rate: 1.234523 deg/s,
      cmd update: 3.703570 deg/s,
      cmd heading: 36.712208 deg,
      new cmd heading: 36.908182 deg.

2021-08-14T16:23:43.940Z,1628958223.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:44.309Z,1628958224.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:44.309Z,1628958224.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:44.310Z,1628958224.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:44.311Z,1628958224.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:44.710Z,1628958224.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07B,000,00B55,186,80,80,75,FF
2021-08-14T16:23:44.711Z,1628958224.711 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:44.711Z,1628958224.711 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:44.713Z,1628958224.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:45.112Z,1628958225.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:45.513Z,1628958225.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,00B24,184,80,80,92,FF
2021-08-14T16:23:45.514Z,1628958225.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:45.945Z,1628958225.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162346.52*5D

2021-08-14T16:23:45.985Z,1628958225.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.619995 m, bearing: 37.431663 deg, deltaT: 4.459191 s, approachRate: -0.659313 m/s, LOS rate: 0.586638 deg/s, posRepo size: 4
2021-08-14T16:23:45.987Z,1628958225.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.619995 m,
      bearing: 37.431663 deg,
      approachRate: -0.659313 m/s,
      LOS rate: 0.586638 deg/s,
      cmd update: 1.759915 deg/s,
      cmd heading: 53.213446 deg,
      new cmd heading: 54.653935 deg.

2021-08-14T16:23:48.390Z,1628958228.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:48.749Z,1628958228.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:48.749Z,1628958228.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:48.749Z,1628958228.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:48.750Z,1628958228.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:49.145Z,1628958229.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,00B24,184,80,80,92,FF
2021-08-14T16:23:49.145Z,1628958229.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:49.145Z,1628958229.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:49.147Z,1628958229.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:49.555Z,1628958229.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:49.962Z,1628958229.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00AF4,186,80,80,9C,FF
2021-08-14T16:23:49.962Z,1628958229.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:50.422Z,1628958230.422 [Micromodem](INFO): Nmea in: $SNTTA,0.095673,,,,162350.96*42

2021-08-14T16:23:50.459Z,1628958230.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.740005 m, bearing: 35.477153 deg, deltaT: 4.383880 s, approachRate: -0.656950 m/s, LOS rate: -0.445840 deg/s, posRepo size: 4
2021-08-14T16:23:50.461Z,1628958230.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.740005 m,
      bearing: 35.477153 deg,
      approachRate: -0.656950 m/s,
      LOS rate: -0.445840 deg/s,
      cmd update: -1.337521 deg/s,
      cmd heading: 60.935759 deg,
      new cmd heading: 61.771919 deg.

2021-08-14T16:23:52.819Z,1628958232.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:53.220Z,1628958233.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:53.220Z,1628958233.220 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:53.220Z,1628958233.220 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:53.220Z,1628958233.220 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:53.589Z,1628958233.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00AF4,186,80,80,9C,FF
2021-08-14T16:23:53.589Z,1628958233.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:53.589Z,1628958233.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:53.591Z,1628958233.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:53.996Z,1628958233.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:54.417Z,1628958234.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,00AC3,188,80,80,8F,FF
2021-08-14T16:23:54.418Z,1628958234.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:54.833Z,1628958234.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162355.40*5C

2021-08-14T16:23:54.870Z,1628958234.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.800003 m, bearing: 29.013551 deg, deltaT: 4.499450 s, approachRate: -0.653414 m/s, LOS rate: -1.436532 deg/s, posRepo size: 4
2021-08-14T16:23:54.873Z,1628958234.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.800003 m,
      bearing: 29.013551 deg,
      approachRate: -0.653414 m/s,
      LOS rate: -1.436532 deg/s,
      cmd update: -4.309595 deg/s,
      cmd heading: 54.923013 deg,
      new cmd heading: 54.399382 deg.

2021-08-14T16:23:57.294Z,1628958237.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:23:57.630Z,1628958237.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:23:57.630Z,1628958237.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:23:57.630Z,1628958237.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:23:57.631Z,1628958237.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:23:58.033Z,1628958238.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,00AC3,188,80,80,8F,FF
2021-08-14T16:23:58.033Z,1628958238.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:23:58.033Z,1628958238.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:23:58.035Z,1628958238.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:23:58.464Z,1628958238.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:23:58.841Z,1628958238.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,00A94,186,80,80,88,FF
2021-08-14T16:23:58.842Z,1628958238.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:23:59.293Z,1628958239.293 [Micromodem](INFO): Nmea in: $SNTTA,,0.098988,,,162359.85*4F

2021-08-14T16:23:59.373Z,1628958239.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.979996 m, bearing: 30.055076 deg, deltaT: 4.410228 s, approachRate: -0.639424 m/s, LOS rate: 0.236161 deg/s, posRepo size: 4
2021-08-14T16:23:59.375Z,1628958239.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.979996 m,
      bearing: 30.055076 deg,
      approachRate: -0.639424 m/s,
      LOS rate: 0.236161 deg/s,
      cmd update: 0.708484 deg/s,
      cmd heading: 35.900332 deg,
      new cmd heading: 33.829020 deg.

2021-08-14T16:24:01.715Z,1628958241.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:02.077Z,1628958242.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:02.077Z,1628958242.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:02.077Z,1628958242.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:02.078Z,1628958242.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:02.481Z,1628958242.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,00A94,186,80,80,88,FF
2021-08-14T16:24:02.481Z,1628958242.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:02.481Z,1628958242.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:02.483Z,1628958242.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:02.885Z,1628958242.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:03.719Z,1628958243.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162404.29*50

2021-08-14T16:24:04.542Z,1628958244.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:06.113Z,1628958246.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,88,FF
2021-08-14T16:24:06.113Z,1628958246.113 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,88,FF
2021-08-14T16:24:06.113Z,1628958246.113 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:24:07.426Z,1628958247.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:07.741Z,1628958247.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:07.741Z,1628958247.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:07.741Z,1628958247.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:07.742Z,1628958247.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:08.141Z,1628958248.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,88,FF
2021-08-14T16:24:08.141Z,1628958248.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:08.141Z,1628958248.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:08.143Z,1628958248.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:08.540Z,1628958248.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:08.962Z,1628958248.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00A22,184,80,80,B8,FF
2021-08-14T16:24:08.962Z,1628958248.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:09.422Z,1628958249.422 [Micromodem](INFO): Nmea in: $SNTTA,0.081323,,,,162409.95*4F

2021-08-14T16:24:09.486Z,1628958249.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.139999 m, bearing: 34.857884 deg, deltaT: 10.105928 s, approachRate: -0.676830 m/s, LOS rate: 0.475247 deg/s, posRepo size: 4
2021-08-14T16:24:09.488Z,1628958249.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.139999 m,
      bearing: 34.857884 deg,
      approachRate: -0.676830 m/s,
      LOS rate: 0.475247 deg/s,
      cmd update: 1.425740 deg/s,
      cmd heading: 43.060331 deg,
      new cmd heading: 43.405332 deg.

2021-08-14T16:24:11.790Z,1628958251.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:12.185Z,1628958252.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:12.185Z,1628958252.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:12.185Z,1628958252.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:12.186Z,1628958252.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:12.577Z,1628958252.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00A22,184,80,80,B8,FF
2021-08-14T16:24:12.578Z,1628958252.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:12.578Z,1628958252.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:12.580Z,1628958252.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:13.000Z,1628958253.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:13.420Z,1628958253.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,009ED,186,80,80,B6,FF
2021-08-14T16:24:13.421Z,1628958253.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:13.427Z,1628958253.427 [Micromodem](INFO): Nmea in: $SNTTA,0.200045,0.200670,,,162414.39*50

2021-08-14T16:24:13.844Z,1628958253.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.960007 m, bearing: 34.526517 deg, deltaT: 4.520517 s, approachRate: -0.703458 m/s, LOS rate: -0.073303 deg/s, posRepo size: 4
2021-08-14T16:24:13.846Z,1628958253.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.960007 m,
      bearing: 34.526517 deg,
      approachRate: -0.703458 m/s,
      LOS rate: -0.073303 deg/s,
      cmd update: -0.219908 deg/s,
      cmd heading: 49.498714 deg,
      new cmd heading: 49.967959 deg.

2021-08-14T16:24:16.254Z,1628958256.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:16.618Z,1628958256.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:16.618Z,1628958256.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:16.618Z,1628958256.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:16.619Z,1628958256.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:17.049Z,1628958257.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,009ED,186,80,80,B6,FF
2021-08-14T16:24:17.049Z,1628958257.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:17.049Z,1628958257.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:17.051Z,1628958257.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:17.473Z,1628958257.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:17.842Z,1628958257.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,009BC,186,80,80,AF,FF
2021-08-14T16:24:17.843Z,1628958257.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:18.257Z,1628958258.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162418.86*58

2021-08-14T16:24:18.279Z,1628958258.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.020004 m, bearing: 32.496182 deg, deltaT: 4.369808 s, approachRate: -0.672799 m/s, LOS rate: -0.464628 deg/s, posRepo size: 4
2021-08-14T16:24:18.302Z,1628958258.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.020004 m,
      bearing: 32.496182 deg,
      approachRate: -0.672799 m/s,
      LOS rate: -0.464628 deg/s,
      cmd update: -1.393884 deg/s,
      cmd heading: 48.542075 deg,
      new cmd heading: 48.450943 deg.

2021-08-14T16:24:20.710Z,1628958260.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:21.082Z,1628958261.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:21.082Z,1628958261.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:21.083Z,1628958261.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:21.085Z,1628958261.085 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:21.469Z,1628958261.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,009BC,186,80,80,AF,FF
2021-08-14T16:24:21.469Z,1628958261.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:21.469Z,1628958261.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:21.471Z,1628958261.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:21.889Z,1628958261.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:22.273Z,1628958262.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,0098E,185,80,80,99,FF
2021-08-14T16:24:22.273Z,1628958262.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:22.722Z,1628958262.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162423.28*54

2021-08-14T16:24:22.770Z,1628958262.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.260010 m, bearing: 31.549644 deg, deltaT: 4.430220 s, approachRate: -0.622993 m/s, LOS rate: -0.213655 deg/s, posRepo size: 4
2021-08-14T16:24:22.772Z,1628958262.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.260010 m,
      bearing: 31.549644 deg,
      approachRate: -0.622993 m/s,
      LOS rate: -0.213655 deg/s,
      cmd update: -0.640964 deg/s,
      cmd heading: 42.338536 deg,
      new cmd heading: 41.705330 deg.

2021-08-14T16:24:25.185Z,1628958265.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:25.517Z,1628958265.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:25.517Z,1628958265.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:25.517Z,1628958265.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:25.518Z,1628958265.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:25.918Z,1628958265.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,0098E,185,80,80,99,FF
2021-08-14T16:24:25.919Z,1628958265.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:25.919Z,1628958265.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:25.921Z,1628958265.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:26.316Z,1628958266.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:26.721Z,1628958266.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,00958,186,80,80,A5,FF
2021-08-14T16:24:26.721Z,1628958266.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:27.161Z,1628958267.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162427.73*5E

2021-08-14T16:24:27.237Z,1628958267.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.019997 m, bearing: 33.408122 deg, deltaT: 4.481919 s, approachRate: -0.722908 m/s, LOS rate: 0.414661 deg/s, posRepo size: 4
2021-08-14T16:24:27.239Z,1628958267.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.019997 m,
      bearing: 33.408122 deg,
      approachRate: -0.722908 m/s,
      LOS rate: 0.414661 deg/s,
      cmd update: 1.243983 deg/s,
      cmd heading: 39.465739 deg,
      new cmd heading: 39.186992 deg.

2021-08-14T16:24:29.629Z,1628958269.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:29.949Z,1628958269.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:29.949Z,1628958269.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:29.949Z,1628958269.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:29.950Z,1628958269.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:30.361Z,1628958270.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,00958,186,80,80,A5,FF
2021-08-14T16:24:30.361Z,1628958270.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:30.361Z,1628958270.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:30.367Z,1628958270.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:30.761Z,1628958270.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:31.169Z,1628958271.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00923,186,80,80,C2,FF
2021-08-14T16:24:31.170Z,1628958271.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:31.577Z,1628958271.577 [Micromodem](INFO): Nmea in: $SNTTA,0.345554,0.344048,,,162432.18*5E

2021-08-14T16:24:31.671Z,1628958271.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 32.851905 deg, deltaT: 4.462755 s, approachRate: -0.712563 m/s, LOS rate: -0.124635 deg/s, posRepo size: 4
2021-08-14T16:24:31.674Z,1628958271.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.840004 m,
      bearing: 32.851905 deg,
      approachRate: -0.712563 m/s,
      LOS rate: -0.124635 deg/s,
      cmd update: -0.373906 deg/s,
      cmd heading: 44.997780 deg,
      new cmd heading: 45.528670 deg.

2021-08-14T16:24:34.011Z,1628958274.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:34.408Z,1628958274.408 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:34.409Z,1628958274.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:34.409Z,1628958274.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:34.411Z,1628958274.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:34.802Z,1628958274.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00923,186,80,80,C2,FF
2021-08-14T16:24:34.802Z,1628958274.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:34.802Z,1628958274.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:34.804Z,1628958274.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:35.241Z,1628958275.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:35.618Z,1628958275.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,008F1,186,80,80,B0,FF
2021-08-14T16:24:35.618Z,1628958275.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:36.052Z,1628958276.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162436.61*5D

2021-08-14T16:24:36.111Z,1628958276.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.840004 m, bearing: 31.671396 deg, deltaT: 4.491589 s, approachRate: -0.667915 m/s, LOS rate: -0.262827 deg/s, posRepo size: 4
2021-08-14T16:24:36.113Z,1628958276.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 31.671396 deg,
      approachRate: -0.667915 m/s,
      LOS rate: -0.262827 deg/s,
      cmd update: -0.788480 deg/s,
      cmd heading: 43.312569 deg,
      new cmd heading: 43.178177 deg.

2021-08-14T16:24:38.505Z,1628958278.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:38.841Z,1628958278.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:38.841Z,1628958278.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:38.842Z,1628958278.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:38.842Z,1628958278.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:39.261Z,1628958279.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,008F1,186,80,80,B0,FF
2021-08-14T16:24:39.261Z,1628958279.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:39.261Z,1628958279.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:39.263Z,1628958279.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:39.657Z,1628958279.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:40.058Z,1628958280.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,008BF,186,80,80,6E,FF
2021-08-14T16:24:40.058Z,1628958280.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:40.493Z,1628958280.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162441.07*5D

2021-08-14T16:24:40.562Z,1628958280.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.840004 m, bearing: 31.306305 deg, deltaT: 4.320404 s, approachRate: -0.694380 m/s, LOS rate: -0.084504 deg/s, posRepo size: 4
2021-08-14T16:24:40.569Z,1628958280.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.840004 m,
      bearing: 31.306305 deg,
      approachRate: -0.694380 m/s,
      LOS rate: -0.084504 deg/s,
      cmd update: -0.253511 deg/s,
      cmd heading: 39.902633 deg,
      new cmd heading: 39.523968 deg.

2021-08-14T16:24:42.914Z,1628958282.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:43.289Z,1628958283.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:43.289Z,1628958283.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:43.289Z,1628958283.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:43.290Z,1628958283.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:43.694Z,1628958283.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,008BF,186,80,80,6E,FF
2021-08-14T16:24:43.694Z,1628958283.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:43.694Z,1628958283.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:43.696Z,1628958283.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:44.097Z,1628958284.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:44.497Z,1628958284.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,0088F,186,80,80,B5,FF
2021-08-14T16:24:44.498Z,1628958284.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:44.933Z,1628958284.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162445.51*5A

2021-08-14T16:24:44.955Z,1628958284.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.960007 m, bearing: 33.013077 deg, deltaT: 4.448462 s, approachRate: -0.647414 m/s, LOS rate: 0.383677 deg/s, posRepo size: 4
2021-08-14T16:24:44.986Z,1628958284.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.960007 m,
      bearing: 33.013077 deg,
      approachRate: -0.647414 m/s,
      LOS rate: 0.383677 deg/s,
      cmd update: 1.151031 deg/s,
      cmd heading: 38.774959 deg,
      new cmd heading: 38.665720 deg.

2021-08-14T16:24:47.421Z,1628958287.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:47.729Z,1628958287.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:47.729Z,1628958287.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:47.729Z,1628958287.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:47.730Z,1628958287.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:48.137Z,1628958288.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,0088F,186,80,80,B5,FF
2021-08-14T16:24:48.137Z,1628958288.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:48.137Z,1628958288.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:48.139Z,1628958288.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:48.540Z,1628958288.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:48.941Z,1628958288.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,0085C,186,80,80,A9,FF
2021-08-14T16:24:48.941Z,1628958288.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:49.398Z,1628958289.398 [Micromodem](INFO): Nmea in: $SNTTA,,0.069394,,,162449.95*41

2021-08-14T16:24:49.507Z,1628958289.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.900009 m, bearing: 32.817355 deg, deltaT: 4.433665 s, approachRate: -0.690173 m/s, LOS rate: -0.044145 deg/s, posRepo size: 4
2021-08-14T16:24:49.515Z,1628958289.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.900009 m,
      bearing: 32.817355 deg,
      approachRate: -0.690173 m/s,
      LOS rate: -0.044145 deg/s,
      cmd update: -0.132434 deg/s,
      cmd heading: 43.878509 deg,
      new cmd heading: 44.484409 deg.

2021-08-14T16:24:51.805Z,1628958291.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:52.173Z,1628958292.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:52.173Z,1628958292.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:52.173Z,1628958292.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:52.174Z,1628958292.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:52.582Z,1628958292.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,0085C,186,80,80,A9,FF
2021-08-14T16:24:52.582Z,1628958292.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:52.582Z,1628958292.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:52.584Z,1628958292.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:52.993Z,1628958292.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:53.389Z,1628958293.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00828,186,80,80,A7,FF
2021-08-14T16:24:53.390Z,1628958293.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:53.837Z,1628958293.837 [Micromodem](INFO): Nmea in: $SNTTA,0.060619,,,,162454.39*42

2021-08-14T16:24:53.859Z,1628958293.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.780006 m, bearing: 31.251575 deg, deltaT: 4.525338 s, approachRate: -0.689452 m/s, LOS rate: -0.346003 deg/s, posRepo size: 4
2021-08-14T16:24:53.862Z,1628958293.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.780006 m,
      bearing: 31.251575 deg,
      approachRate: -0.689452 m/s,
      LOS rate: -0.346003 deg/s,
      cmd update: -1.038009 deg/s,
      cmd heading: 43.279228 deg,
      new cmd heading: 43.229446 deg.

2021-08-14T16:24:56.238Z,1628958296.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:24:56.618Z,1628958296.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:24:56.618Z,1628958296.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:24:56.618Z,1628958296.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:24:56.619Z,1628958296.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:24:57.021Z,1628958297.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00828,186,80,80,A7,FF
2021-08-14T16:24:57.021Z,1628958297.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:24:57.021Z,1628958297.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:24:57.023Z,1628958297.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:24:57.471Z,1628958297.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:24:57.834Z,1628958297.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,007F2,186,80,80,BD,FF
2021-08-14T16:24:57.834Z,1628958297.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:24:58.265Z,1628958298.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162458.83*59

2021-08-14T16:24:58.312Z,1628958298.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.540001 m, bearing: 29.916249 deg, deltaT: 4.371667 s, approachRate: -0.741137 m/s, LOS rate: -0.305450 deg/s, posRepo size: 4
2021-08-14T16:24:58.314Z,1628958298.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.540001 m,
      bearing: 29.916249 deg,
      approachRate: -0.741137 m/s,
      LOS rate: -0.305450 deg/s,
      cmd update: -0.916350 deg/s,
      cmd heading: 38.741189 deg,
      new cmd heading: 38.292591 deg.

2021-08-14T16:25:00.709Z,1628958300.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:01.061Z,1628958301.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:01.061Z,1628958301.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:01.061Z,1628958301.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:01.062Z,1628958301.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:01.477Z,1628958301.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,007F2,186,80,80,BD,FF
2021-08-14T16:25:01.477Z,1628958301.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:01.477Z,1628958301.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:01.479Z,1628958301.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:01.881Z,1628958301.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:02.273Z,1628958302.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,007C2,186,80,80,9C,FF
2021-08-14T16:25:02.274Z,1628958302.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:02.733Z,1628958302.733 [Micromodem](INFO): Nmea in: $SNTTA,0.061394,,,,162503.29*41

2021-08-14T16:25:02.775Z,1628958302.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.659996 m, bearing: 31.597432 deg, deltaT: 4.495365 s, approachRate: -0.640661 m/s, LOS rate: 0.373981 deg/s, posRepo size: 4
2021-08-14T16:25:02.782Z,1628958302.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.659996 m,
      bearing: 31.597432 deg,
      approachRate: -0.640661 m/s,
      LOS rate: 0.373981 deg/s,
      cmd update: 1.121944 deg/s,
      cmd heading: 34.622266 deg,
      new cmd heading: 34.232726 deg.

2021-08-14T16:25:05.127Z,1628958305.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:05.505Z,1628958305.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:05.505Z,1628958305.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:05.505Z,1628958305.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:05.506Z,1628958305.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:05.909Z,1628958305.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,007C2,186,80,80,9C,FF
2021-08-14T16:25:05.909Z,1628958305.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:05.909Z,1628958305.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:05.911Z,1628958305.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:06.317Z,1628958306.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:06.711Z,1628958306.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,0078D,184,80,80,A8,FF
2021-08-14T16:25:06.711Z,1628958306.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:07.177Z,1628958307.177 [Micromodem](INFO): Nmea in: $SNTTA,0.113741,,,,162507.72*43

2021-08-14T16:25:07.234Z,1628958307.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.480003 m, bearing: 32.199414 deg, deltaT: 4.387482 s, approachRate: -0.724788 m/s, LOS rate: 0.137204 deg/s, posRepo size: 4
2021-08-14T16:25:07.237Z,1628958307.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.480003 m,
      bearing: 32.199414 deg,
      approachRate: -0.724788 m/s,
      LOS rate: 0.137204 deg/s,
      cmd update: 0.411613 deg/s,
      cmd heading: 39.545315 deg,
      new cmd heading: 40.101986 deg.

2021-08-14T16:25:09.637Z,1628958309.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:09.953Z,1628958309.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:09.953Z,1628958309.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:09.954Z,1628958309.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:09.955Z,1628958309.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:10.354Z,1628958310.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,0078D,184,80,80,A8,FF
2021-08-14T16:25:10.354Z,1628958310.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:10.354Z,1628958310.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:10.356Z,1628958310.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:10.808Z,1628958310.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:11.177Z,1628958311.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00758,186,80,80,A2,FF
2021-08-14T16:25:11.178Z,1628958311.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:11.202Z,1628958311.202 [Micromodem](INFO): Nmea in: $SNTTA,0.148716,0.057278,,,162512.16*58

2021-08-14T16:25:11.621Z,1628958311.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 29.377439 deg, deltaT: 4.551576 s, approachRate: -0.698659 m/s, LOS rate: -0.619999 deg/s, posRepo size: 4
2021-08-14T16:25:11.624Z,1628958311.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 29.377439 deg,
      approachRate: -0.698659 m/s,
      LOS rate: -0.619999 deg/s,
      cmd update: -1.859998 deg/s,
      cmd heading: 41.417084 deg,
      new cmd heading: 41.554227 deg.

2021-08-14T16:25:14.018Z,1628958314.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:14.420Z,1628958314.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:14.420Z,1628958314.420 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:14.421Z,1628958314.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:14.422Z,1628958314.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:14.801Z,1628958314.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00758,186,80,80,A2,FF
2021-08-14T16:25:14.801Z,1628958314.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:14.801Z,1628958314.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:14.803Z,1628958314.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:15.262Z,1628958315.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:15.605Z,1628958315.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00725,187,80,80,86,FF
2021-08-14T16:25:15.605Z,1628958315.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:16.041Z,1628958316.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162516.61*5E

2021-08-14T16:25:16.071Z,1628958316.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.240005 m, bearing: 30.215172 deg, deltaT: 4.385102 s, approachRate: -0.697817 m/s, LOS rate: 0.191041 deg/s, posRepo size: 4
2021-08-14T16:25:16.074Z,1628958316.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.240005 m,
      bearing: 30.215172 deg,
      approachRate: -0.697817 m/s,
      LOS rate: 0.191041 deg/s,
      cmd update: 0.573122 deg/s,
      cmd heading: 33.253871 deg,
      new cmd heading: 32.515631 deg.

2021-08-14T16:25:18.493Z,1628958318.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:18.841Z,1628958318.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:18.841Z,1628958318.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:18.841Z,1628958318.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:18.842Z,1628958318.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:19.261Z,1628958319.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00725,187,80,80,86,FF
2021-08-14T16:25:19.261Z,1628958319.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:19.261Z,1628958319.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:19.263Z,1628958319.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:19.680Z,1628958319.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:20.061Z,1628958320.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,006EF,184,80,80,7B,FF
2021-08-14T16:25:20.062Z,1628958320.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:20.508Z,1628958320.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162521.07*5A

2021-08-14T16:25:20.539Z,1628958320.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 30.338829 deg, deltaT: 4.403348 s, approachRate: -0.735803 m/s, LOS rate: 0.028083 deg/s, posRepo size: 4
2021-08-14T16:25:20.541Z,1628958320.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 30.338829 deg,
      approachRate: -0.735803 m/s,
      LOS rate: 0.028083 deg/s,
      cmd update: 0.084248 deg/s,
      cmd heading: 35.777791 deg,
      new cmd heading: 36.041627 deg.

2021-08-14T16:25:22.913Z,1628958322.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:23.301Z,1628958323.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:23.301Z,1628958323.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:23.301Z,1628958323.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:23.302Z,1628958323.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:23.697Z,1628958323.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,006EF,184,80,80,7B,FF
2021-08-14T16:25:23.697Z,1628958323.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:23.697Z,1628958323.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:23.699Z,1628958323.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:24.101Z,1628958324.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:24.501Z,1628958324.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,006BB,184,80,80,8A,FF
2021-08-14T16:25:24.502Z,1628958324.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:24.945Z,1628958324.945 [Micromodem](INFO): Nmea in: $SNTTA,0.058398,,,,162525.51*4C

2021-08-14T16:25:24.975Z,1628958324.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.880005 m, bearing: 31.118789 deg, deltaT: 4.482895 s, approachRate: -0.695979 m/s, LOS rate: 0.173986 deg/s, posRepo size: 4
2021-08-14T16:25:24.978Z,1628958324.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.880005 m,
      bearing: 31.118789 deg,
      approachRate: -0.695979 m/s,
      LOS rate: 0.173986 deg/s,
      cmd update: 0.521957 deg/s,
      cmd heading: 36.153085 deg,
      new cmd heading: 36.190368 deg.

2021-08-14T16:25:27.389Z,1628958327.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:27.741Z,1628958327.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:27.741Z,1628958327.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:27.741Z,1628958327.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:27.742Z,1628958327.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:28.133Z,1628958328.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,006BB,184,80,80,8A,FF
2021-08-14T16:25:28.133Z,1628958328.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:28.134Z,1628958328.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:28.135Z,1628958328.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:28.553Z,1628958328.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:28.950Z,1628958328.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,0068B,185,80,80,A4,FF
2021-08-14T16:25:28.950Z,1628958328.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:29.377Z,1628958329.377 [Micromodem](INFO): Nmea in: $SNTTA,0.421780,0.421786,,,162529.95*5F

2021-08-14T16:25:29.486Z,1628958329.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.000004 m, bearing: 29.706982 deg, deltaT: 4.405917 s, approachRate: -0.653667 m/s, LOS rate: -0.320434 deg/s, posRepo size: 4
2021-08-14T16:25:29.492Z,1628958329.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.000004 m,
      bearing: 29.706982 deg,
      approachRate: -0.653667 m/s,
      LOS rate: -0.320434 deg/s,
      cmd update: -0.961303 deg/s,
      cmd heading: 38.467489 deg,
      new cmd heading: 38.735236 deg.

2021-08-14T16:25:31.470Z,1628958331.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:31.781Z,1628958331.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:31.781Z,1628958331.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:31.781Z,1628958331.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:31.782Z,1628958331.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:32.177Z,1628958332.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,0068B,185,80,80,A4,FF
2021-08-14T16:25:32.177Z,1628958332.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:32.177Z,1628958332.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:32.179Z,1628958332.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:32.601Z,1628958332.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:32.985Z,1628958332.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00662,183,80,80,71,FF
2021-08-14T16:25:32.985Z,1628958332.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:33.436Z,1628958333.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162533.99*5E

2021-08-14T16:25:33.506Z,1628958333.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 30.215070 deg, deltaT: 4.035242 s, approachRate: -0.609629 m/s, LOS rate: 0.125913 deg/s, posRepo size: 4
2021-08-14T16:25:33.512Z,1628958333.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.540005 m,
      bearing: 30.215070 deg,
      approachRate: -0.609629 m/s,
      LOS rate: 0.125913 deg/s,
      cmd update: 0.377738 deg/s,
      cmd heading: 34.588443 deg,
      new cmd heading: 34.104138 deg.

2021-08-14T16:25:35.839Z,1628958335.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:36.214Z,1628958336.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:36.214Z,1628958336.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:36.214Z,1628958336.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:36.215Z,1628958336.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:36.638Z,1628958336.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00662,183,80,80,71,FF
2021-08-14T16:25:36.638Z,1628958336.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:36.639Z,1628958336.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:36.641Z,1628958336.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:37.029Z,1628958337.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:37.461Z,1628958337.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,0062D,184,80,80,5F,FF
2021-08-14T16:25:37.461Z,1628958337.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:37.857Z,1628958337.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162538.45*54

2021-08-14T16:25:37.887Z,1628958337.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.360001 m, bearing: 30.069641 deg, deltaT: 4.537908 s, approachRate: -0.700764 m/s, LOS rate: -0.032047 deg/s, posRepo size: 4
2021-08-14T16:25:37.889Z,1628958337.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.360001 m,
      bearing: 30.069641 deg,
      approachRate: -0.700764 m/s,
      LOS rate: -0.032047 deg/s,
      cmd update: -0.096142 deg/s,
      cmd heading: 36.301106 deg,
      new cmd heading: 36.433610 deg.

2021-08-14T16:25:40.291Z,1628958340.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:40.677Z,1628958340.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:40.677Z,1628958340.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:40.677Z,1628958340.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:40.678Z,1628958340.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:41.065Z,1628958341.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,0062D,184,80,80,5F,FF
2021-08-14T16:25:41.065Z,1628958341.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:41.065Z,1628958341.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:41.067Z,1628958341.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:41.492Z,1628958341.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:41.511Z,1628958341.511 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T16:25:41.877Z,1628958341.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,005FC,186,80,80,A4,FF
2021-08-14T16:25:41.878Z,1628958341.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:42.325Z,1628958342.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162542.88*58

2021-08-14T16:25:42.347Z,1628958342.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.419998 m, bearing: 28.725160 deg, deltaT: 4.382257 s, approachRate: -0.670888 m/s, LOS rate: -0.306801 deg/s, posRepo size: 4
2021-08-14T16:25:42.350Z,1628958342.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.419998 m,
      bearing: 28.725160 deg,
      approachRate: -0.670888 m/s,
      LOS rate: -0.306801 deg/s,
      cmd update: -0.920404 deg/s,
      cmd heading: 35.879795 deg,
      new cmd heading: 35.838555 deg.

2021-08-14T16:25:44.757Z,1628958344.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:45.113Z,1628958345.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:45.113Z,1628958345.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:45.113Z,1628958345.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:45.114Z,1628958345.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:45.525Z,1628958345.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,005FC,186,80,80,A4,FF
2021-08-14T16:25:45.526Z,1628958345.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:45.526Z,1628958345.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:45.529Z,1628958345.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:45.921Z,1628958345.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:46.323Z,1628958346.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,005CB,187,80,80,77,FF
2021-08-14T16:25:46.324Z,1628958346.324 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:46.753Z,1628958346.753 [Micromodem](INFO): Nmea in: $SNTTA,0.061822,,,,162547.34*4B

2021-08-14T16:25:46.799Z,1628958346.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.479996 m, bearing: 28.423808 deg, deltaT: 4.428998 s, approachRate: -0.663808 m/s, LOS rate: -0.068041 deg/s, posRepo size: 4
2021-08-14T16:25:46.813Z,1628958346.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.479996 m,
      bearing: 28.423808 deg,
      approachRate: -0.663808 m/s,
      LOS rate: -0.068041 deg/s,
      cmd update: -0.204122 deg/s,
      cmd heading: 31.801829 deg,
      new cmd heading: 31.387590 deg.

2021-08-14T16:25:49.233Z,1628958349.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:49.558Z,1628958349.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:49.558Z,1628958349.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:49.558Z,1628958349.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:49.559Z,1628958349.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:49.966Z,1628958349.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,005CB,187,80,80,77,FF
2021-08-14T16:25:49.966Z,1628958349.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:49.966Z,1628958349.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:49.968Z,1628958349.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:50.374Z,1628958350.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:50.777Z,1628958350.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00597,184,80,80,79,FF
2021-08-14T16:25:50.778Z,1628958350.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:51.268Z,1628958351.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162551.78*55

2021-08-14T16:25:51.311Z,1628958351.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 28.038359 deg, deltaT: 4.605658 s, approachRate: -0.677426 m/s, LOS rate: -0.083690 deg/s, posRepo size: 4
2021-08-14T16:25:51.341Z,1628958351.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.360004 m,
      bearing: 28.038359 deg,
      approachRate: -0.677426 m/s,
      LOS rate: -0.083690 deg/s,
      cmd update: -0.251071 deg/s,
      cmd heading: 30.863050 deg,
      new cmd heading: 30.789065 deg.

2021-08-14T16:25:53.669Z,1628958353.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:53.993Z,1628958353.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:53.993Z,1628958353.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:53.993Z,1628958353.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:53.994Z,1628958353.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:54.413Z,1628958354.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00597,184,80,80,79,FF
2021-08-14T16:25:54.414Z,1628958354.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:54.414Z,1628958354.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:54.436Z,1628958354.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:54.814Z,1628958354.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:55.250Z,1628958355.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00564,183,80,80,6A,FF
2021-08-14T16:25:55.250Z,1628958355.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:25:55.256Z,1628958355.256 [Micromodem](INFO): Nmea in: $SNTTA,0.059199,0.271180,,,162556.25*5A

2021-08-14T16:25:55.662Z,1628958355.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 29.069285 deg, deltaT: 4.384133 s, approachRate: -0.697973 m/s, LOS rate: 0.235149 deg/s, posRepo size: 4
2021-08-14T16:25:55.664Z,1628958355.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.299999 m,
      bearing: 29.069285 deg,
      approachRate: -0.697973 m/s,
      LOS rate: 0.235149 deg/s,
      cmd update: 0.705448 deg/s,
      cmd heading: 29.760541 deg,
      new cmd heading: 29.679625 deg.

2021-08-14T16:25:58.090Z,1628958358.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:25:58.461Z,1628958358.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:25:58.461Z,1628958358.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:25:58.461Z,1628958358.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:25:58.462Z,1628958358.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:25:58.845Z,1628958358.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00564,183,80,80,6A,FF
2021-08-14T16:25:58.845Z,1628958358.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:25:58.845Z,1628958358.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:25:58.847Z,1628958358.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:25:59.273Z,1628958359.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:25:59.661Z,1628958359.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00534,183,80,80,AA,FF
2021-08-14T16:25:59.662Z,1628958359.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:00.081Z,1628958360.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162600.72*58

2021-08-14T16:26:00.139Z,1628958360.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 29.200428 deg, deltaT: 4.381212 s, approachRate: -0.657353 m/s, LOS rate: 0.029933 deg/s, posRepo size: 4
2021-08-14T16:26:00.143Z,1628958360.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.419998 m,
      bearing: 29.200428 deg,
      approachRate: -0.657353 m/s,
      LOS rate: 0.029933 deg/s,
      cmd update: 0.089799 deg/s,
      cmd heading: 32.849807 deg,
      new cmd heading: 33.146068 deg.

2021-08-14T16:26:02.526Z,1628958362.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:02.889Z,1628958362.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:02.889Z,1628958362.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:02.889Z,1628958362.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:02.890Z,1628958362.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:03.295Z,1628958363.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00534,183,80,80,AA,FF
2021-08-14T16:26:03.295Z,1628958363.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:03.295Z,1628958363.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:03.297Z,1628958363.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:03.712Z,1628958363.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:04.101Z,1628958364.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,004FF,184,80,80,98,FF
2021-08-14T16:26:04.102Z,1628958364.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:04.549Z,1628958364.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162605.11*58

2021-08-14T16:26:04.589Z,1628958364.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 27.369871 deg, deltaT: 4.416300 s, approachRate: -0.720059 m/s, LOS rate: -0.414500 deg/s, posRepo size: 4
2021-08-14T16:26:04.589Z,1628958364.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.24 m.
2021-08-14T16:26:04.592Z,1628958364.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.240002 m,
      bearing: 27.369871 deg,
      approachRate: -0.720059 m/s,
      LOS rate: -0.414500 deg/s,
      cmd update: -1.243501 deg/s,
      cmd heading: 33.246383 deg,
      new cmd heading: 33.287150 deg.

2021-08-14T16:26:04.963Z,1628958364.963 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:26:05.004Z,1628958365.004 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:26:05.005Z,1628958365.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:26:05.006Z,1628958365.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:26:05.029Z,1628958365.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:26:05.029Z,1628958365.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:26:05.029Z,1628958365.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:26:05.457Z,1628958365.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:26:05.457Z,1628958365.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:26:05.457Z,1628958365.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:26:05.457Z,1628958365.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:26:06.985Z,1628958366.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:07.337Z,1628958367.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:07.337Z,1628958367.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:07.337Z,1628958367.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:07.338Z,1628958367.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:07.745Z,1628958367.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,004FF,184,80,80,98,FF
2021-08-14T16:26:07.746Z,1628958367.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:07.746Z,1628958367.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:07.748Z,1628958367.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:08.148Z,1628958368.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:08.543Z,1628958368.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,004CD,184,80,80,A8,FF
2021-08-14T16:26:08.543Z,1628958368.543 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:08.574Z,1628958368.574 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:08.989Z,1628958368.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162609.56*57

2021-08-14T16:26:09.028Z,1628958369.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 29.066628 deg, deltaT: 4.432284 s, approachRate: -0.676853 m/s, LOS rate: 0.382818 deg/s, posRepo size: 4
2021-08-14T16:26:09.029Z,1628958369.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.24 m.
2021-08-14T16:26:09.032Z,1628958369.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.239998 m,
      bearing: 29.066628 deg,
      approachRate: -0.676853 m/s,
      LOS rate: 0.382818 deg/s,
      cmd update: 1.148454 deg/s,
      cmd heading: 27.730418 deg,
      new cmd heading: 27.164262 deg.

2021-08-14T16:26:11.482Z,1628958371.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:11.789Z,1628958371.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:11.789Z,1628958371.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:11.789Z,1628958371.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:11.790Z,1628958371.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:12.189Z,1628958372.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,004CD,184,80,80,A8,FF
2021-08-14T16:26:12.189Z,1628958372.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:12.189Z,1628958372.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:12.191Z,1628958372.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:12.605Z,1628958372.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:13.001Z,1628958373.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0049E,185,80,80,6B,FF
2021-08-14T16:26:13.001Z,1628958373.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:13.044Z,1628958373.044 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:13.449Z,1628958373.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162614.00*58

2021-08-14T16:26:13.527Z,1628958373.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 30.823524 deg, deltaT: 4.470601 s, approachRate: -0.630788 m/s, LOS rate: 0.392989 deg/s, posRepo size: 4
2021-08-14T16:26:13.534Z,1628958373.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.42 m.
2021-08-14T16:26:13.540Z,1628958373.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.419998 m,
      bearing: 30.823524 deg,
      approachRate: -0.630788 m/s,
      LOS rate: 0.392989 deg/s,
      cmd update: 1.178966 deg/s,
      cmd heading: 32.864487 deg,
      new cmd heading: 33.422883 deg.

2021-08-14T16:26:15.864Z,1628958375.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:16.229Z,1628958376.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:16.229Z,1628958376.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:16.229Z,1628958376.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:16.230Z,1628958376.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:16.638Z,1628958376.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0049E,185,80,80,6B,FF
2021-08-14T16:26:16.638Z,1628958376.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:16.638Z,1628958376.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:16.641Z,1628958376.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:17.036Z,1628958377.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:17.453Z,1628958377.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0046D,184,80,80,7A,FF
2021-08-14T16:26:17.454Z,1628958377.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:17.549Z,1628958377.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:17.901Z,1628958377.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162618.45*55

2021-08-14T16:26:17.924Z,1628958377.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 27.174215 deg, deltaT: 4.504828 s, approachRate: -0.652633 m/s, LOS rate: -0.810088 deg/s, posRepo size: 4
2021-08-14T16:26:17.924Z,1628958377.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.48 m.
2021-08-14T16:26:17.925Z,1628958377.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.48 m.
2021-08-14T16:26:17.925Z,1628958377.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:26:17.927Z,1628958377.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 27.174215 deg,
      approachRate: -0.652633 m/s,
      LOS rate: -0.810088 deg/s,
      cmd update: -2.430265 deg/s,
      cmd heading: 38.171053 deg,
      new cmd heading: 38.620831 deg.

2021-08-14T16:26:20.283Z,1628958380.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:20.725Z,1628958380.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:20.725Z,1628958380.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:20.725Z,1628958380.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:20.726Z,1628958380.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:21.073Z,1628958381.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0046D,184,80,80,7A,FF
2021-08-14T16:26:21.073Z,1628958381.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:21.073Z,1628958381.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:21.075Z,1628958381.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:21.480Z,1628958381.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:21.497Z,1628958381.497 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:26:21.881Z,1628958381.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,0043F,186,80,80,88,FF
2021-08-14T16:26:21.882Z,1628958381.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:21.902Z,1628958381.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:22.317Z,1628958382.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162622.88*5D

2021-08-14T16:26:22.358Z,1628958382.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 24.910098 deg, deltaT: 4.352397 s, approachRate: -0.634133 m/s, LOS rate: -0.520200 deg/s, posRepo size: 4
2021-08-14T16:26:22.361Z,1628958382.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.720001 m,
      bearing: 24.910098 deg,
      approachRate: -0.634133 m/s,
      LOS rate: -0.520200 deg/s,
      cmd update: -1.560600 deg/s,
      cmd heading: 27.583473 deg,
      new cmd heading: 26.465998 deg.

2021-08-14T16:26:24.765Z,1628958384.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:25.125Z,1628958385.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:25.125Z,1628958385.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:25.125Z,1628958385.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:25.126Z,1628958385.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:25.517Z,1628958385.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,0043F,186,80,80,88,FF
2021-08-14T16:26:25.517Z,1628958385.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:25.517Z,1628958385.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:25.519Z,1628958385.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:25.933Z,1628958385.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:26.325Z,1628958386.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00410,185,80,80,99,FF
2021-08-14T16:26:26.325Z,1628958386.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:26.346Z,1628958386.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:26.765Z,1628958386.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162627.33*58

2021-08-14T16:26:26.803Z,1628958386.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 24.557262 deg, deltaT: 4.444298 s, approachRate: -0.634521 m/s, LOS rate: -0.079391 deg/s, posRepo size: 4
2021-08-14T16:26:26.806Z,1628958386.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.900000 m,
      bearing: 24.557262 deg,
      approachRate: -0.634521 m/s,
      LOS rate: -0.079391 deg/s,
      cmd update: -0.238172 deg/s,
      cmd heading: 20.647668 deg,
      new cmd heading: 19.929158 deg.

2021-08-14T16:26:29.230Z,1628958389.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:29.561Z,1628958389.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:29.562Z,1628958389.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:29.562Z,1628958389.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:29.563Z,1628958389.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:29.961Z,1628958389.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00410,185,80,80,99,FF
2021-08-14T16:26:29.961Z,1628958389.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:29.961Z,1628958389.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:29.963Z,1628958389.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:30.373Z,1628958390.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:30.773Z,1628958390.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,003E9,186,80,80,62,FF
2021-08-14T16:26:30.774Z,1628958390.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:30.804Z,1628958390.804 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:31.269Z,1628958391.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162631.78*50

2021-08-14T16:26:31.276Z,1628958391.276 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:26:31.322Z,1628958391.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 23.720240 deg, deltaT: 4.458421 s, approachRate: -0.524849 m/s, LOS rate: -0.187740 deg/s, posRepo size: 4
2021-08-14T16:26:31.323Z,1628958391.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 23.720240 deg,
      approachRate: -0.524849 m/s,
      LOS rate: -0.187740 deg/s,
      cmd update: -0.563219 deg/s,
      cmd heading: 19.585852 deg,
      new cmd heading: 19.461903 deg.

2021-08-14T16:26:33.653Z,1628958393.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:34.001Z,1628958394.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:34.001Z,1628958394.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:34.001Z,1628958394.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:34.002Z,1628958394.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:34.421Z,1628958394.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,003E9,186,80,80,62,FF
2021-08-14T16:26:34.421Z,1628958394.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:34.422Z,1628958394.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:34.423Z,1628958394.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:34.821Z,1628958394.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:35.257Z,1628958395.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,003B1,187,80,80,A7,FF
2021-08-14T16:26:35.257Z,1628958395.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:35.320Z,1628958395.320 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:35.641Z,1628958395.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162636.24*5E

2021-08-14T16:26:35.682Z,1628958395.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 23.910160 deg, deltaT: 4.515448 s, approachRate: -0.744113 m/s, LOS rate: 0.042060 deg/s, posRepo size: 4
2021-08-14T16:26:35.684Z,1628958395.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 23.910160 deg,
      approachRate: -0.744113 m/s,
      LOS rate: 0.042060 deg/s,
      cmd update: 0.126180 deg/s,
      cmd heading: 17.042770 deg,
      new cmd heading: 16.837008 deg.

2021-08-14T16:26:38.082Z,1628958398.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:38.465Z,1628958398.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:38.465Z,1628958398.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:38.465Z,1628958398.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:38.466Z,1628958398.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:38.858Z,1628958398.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,003B1,187,80,80,A7,FF
2021-08-14T16:26:38.858Z,1628958398.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:38.858Z,1628958398.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:38.860Z,1628958398.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:39.276Z,1628958399.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:39.669Z,1628958399.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00381,186,80,80,6A,FF
2021-08-14T16:26:39.670Z,1628958399.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:39.724Z,1628958399.724 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:40.105Z,1628958400.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162640.67*58

2021-08-14T16:26:40.136Z,1628958400.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 24.039785 deg, deltaT: 4.404246 s, approachRate: -0.653915 m/s, LOS rate: 0.029432 deg/s, posRepo size: 4
2021-08-14T16:26:40.138Z,1628958400.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 24.039785 deg,
      approachRate: -0.653915 m/s,
      LOS rate: 0.029432 deg/s,
      cmd update: 0.088296 deg/s,
      cmd heading: 17.598009 deg,
      new cmd heading: 17.650890 deg.

2021-08-14T16:26:41.297Z,1628958401.297 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T16:26:42.542Z,1628958402.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:42.893Z,1628958402.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:42.894Z,1628958402.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:42.894Z,1628958402.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:42.895Z,1628958402.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:43.293Z,1628958403.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00381,186,80,80,6A,FF
2021-08-14T16:26:43.293Z,1628958403.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:43.293Z,1628958403.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:43.295Z,1628958403.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:43.764Z,1628958403.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:44.161Z,1628958404.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00353,187,80,80,63,FF
2021-08-14T16:26:44.162Z,1628958404.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:44.223Z,1628958404.223 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:44.569Z,1628958404.569 [Micromodem](INFO): Nmea in: $SNTTA,0.029191,,,,162645.11*40

2021-08-14T16:26:44.595Z,1628958404.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 22.944105 deg, deltaT: 4.498734 s, approachRate: -0.613506 m/s, LOS rate: -0.243553 deg/s, posRepo size: 4
2021-08-14T16:26:44.598Z,1628958404.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 22.944105 deg,
      approachRate: -0.613506 m/s,
      LOS rate: -0.243553 deg/s,
      cmd update: -0.730659 deg/s,
      cmd heading: 17.995605 deg,
      new cmd heading: 18.028780 deg.

2021-08-14T16:26:47.023Z,1628958407.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:47.392Z,1628958407.392 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:47.393Z,1628958407.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:47.393Z,1628958407.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:47.394Z,1628958407.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:47.793Z,1628958407.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00353,187,80,80,63,FF
2021-08-14T16:26:47.793Z,1628958407.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:47.793Z,1628958407.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:47.795Z,1628958407.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:48.201Z,1628958408.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:48.601Z,1628958408.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00324,186,80,80,76,FF
2021-08-14T16:26:48.601Z,1628958408.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:48.674Z,1628958408.674 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:49.050Z,1628958409.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162649.61*57

2021-08-14T16:26:49.076Z,1628958409.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 25.234050 deg, deltaT: 4.451081 s, approachRate: -0.633554 m/s, LOS rate: 0.514470 deg/s, posRepo size: 4
2021-08-14T16:26:49.078Z,1628958409.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 25.234050 deg,
      approachRate: -0.633554 m/s,
      LOS rate: 0.514470 deg/s,
      cmd update: 1.543409 deg/s,
      cmd heading: 14.746455 deg,
      new cmd heading: 14.447617 deg.

2021-08-14T16:26:51.485Z,1628958411.485 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T16:26:51.511Z,1628958411.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:51.833Z,1628958411.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:51.833Z,1628958411.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:51.833Z,1628958411.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:51.834Z,1628958411.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:52.237Z,1628958412.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00324,186,80,80,76,FF
2021-08-14T16:26:52.237Z,1628958412.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:52.237Z,1628958412.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:52.239Z,1628958412.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:52.653Z,1628958412.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:53.045Z,1628958413.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,002FB,186,80,80,99,FF
2021-08-14T16:26:53.045Z,1628958413.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:53.098Z,1628958413.098 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:53.494Z,1628958413.494 [Micromodem](INFO): Nmea in: $SNTTA,0.010618,,,,162654.05*49

2021-08-14T16:26:53.567Z,1628958413.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 29.027908 deg, deltaT: 4.423968 s, approachRate: -0.556062 m/s, LOS rate: 0.857569 deg/s, posRepo size: 4
2021-08-14T16:26:53.573Z,1628958413.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 29.027908 deg,
      approachRate: -0.556062 m/s,
      LOS rate: 0.857569 deg/s,
      cmd update: 2.572707 deg/s,
      cmd heading: 21.580443 deg,
      new cmd heading: 22.309907 deg.

2021-08-14T16:26:55.892Z,1628958415.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:26:56.277Z,1628958416.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:26:56.277Z,1628958416.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:26:56.277Z,1628958416.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:26:56.278Z,1628958416.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:26:56.694Z,1628958416.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,002FB,186,80,80,99,FF
2021-08-14T16:26:56.694Z,1628958416.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:26:56.694Z,1628958416.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:26:56.696Z,1628958416.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:26:57.089Z,1628958417.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:26:57.489Z,1628958417.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,002CF,186,80,80,AA,FF
2021-08-14T16:26:57.490Z,1628958417.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:26:57.563Z,1628958417.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:26:57.933Z,1628958417.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162658.51*54

2021-08-14T16:26:57.956Z,1628958417.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 30.683563 deg, deltaT: 4.465907 s, approachRate: -0.591145 m/s, LOS rate: 0.370732 deg/s, posRepo size: 4
2021-08-14T16:26:57.958Z,1628958417.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 30.683563 deg,
      approachRate: -0.591145 m/s,
      LOS rate: 0.370732 deg/s,
      cmd update: 1.112196 deg/s,
      cmd heading: 33.069843 deg,
      new cmd heading: 34.087042 deg.

2021-08-14T16:27:00.346Z,1628958420.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:00.736Z,1628958420.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:00.736Z,1628958420.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:00.736Z,1628958420.736 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:00.737Z,1628958420.737 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:01.133Z,1628958421.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,002CF,186,80,80,AA,FF
2021-08-14T16:27:01.133Z,1628958421.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:01.133Z,1628958421.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:01.135Z,1628958421.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:01.540Z,1628958421.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:01.563Z,1628958421.563 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T16:27:01.933Z,1628958421.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,002B2,185,80,80,9F,FF
2021-08-14T16:27:01.934Z,1628958421.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:01.982Z,1628958421.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:27:02.377Z,1628958422.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162702.95*52

2021-08-14T16:27:02.441Z,1628958422.441 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T16:27:02.441Z,1628958422.441 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:27:02.442Z,1628958422.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T16:27:02.442Z,1628958422.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:27:02.442Z,1628958422.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T16:27:02.443Z,1628958422.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 
2021-08-14T16:27:02.443Z,1628958422.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T16:27:02.443Z,1628958422.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T16:27:02.443Z,1628958422.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T16:27:02.450Z,1628958422.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.899999 m, bearing: 35.749760 deg, deltaT: 4.417925 s, approachRate: -0.393850 m/s, LOS rate: 1.146737 deg/s, posRepo size: 4
2021-08-14T16:27:02.456Z,1628958422.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 35.749760 deg,
      approachRate: -0.393850 m/s,
      LOS rate: 1.146737 deg/s,
      cmd update: 3.440210 deg/s,
      cmd heading: 37.979366 deg,
      new cmd heading: 38.507768 deg.

2021-08-14T16:27:02.785Z,1628958422.785 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T162702: (41.552319, -70.708603)
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T16:27:02.786Z,1628958422.786 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:27:03.223Z,1628958423.223 [UniversalFixResidualReporter](INFO): Fix residual: 1.7 %DT, over the last 1000.5 m. Residual distance 16.7 m at bearing 83.7 degrees. Fix at (41.5524, -70.7086) with 0.0 m made good.
2021-08-14T16:27:04.813Z,1628958424.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:05.177Z,1628958425.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:05.177Z,1628958425.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:05.178Z,1628958425.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:05.179Z,1628958425.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:05.581Z,1628958425.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,002B2,185,80,80,9F,FF
2021-08-14T16:27:05.581Z,1628958425.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:05.581Z,1628958425.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:05.583Z,1628958425.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:05.989Z,1628958425.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:06.389Z,1628958426.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,002AC,184,80,80,A1,FF
2021-08-14T16:27:06.390Z,1628958426.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:06.444Z,1628958426.444 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T16:27:06.459Z,1628958426.459 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:27:06.829Z,1628958426.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162707.39*51

2021-08-14T16:27:06.851Z,1628958426.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.539999 m, bearing: 44.539626 deg, deltaT: 4.491621 s, approachRate: -0.080149 m/s, LOS rate: 1.956947 deg/s, posRepo size: 4
2021-08-14T16:27:06.854Z,1628958426.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 44.539626 deg,
      approachRate: -0.080149 m/s,
      LOS rate: 1.956947 deg/s,
      cmd update: 5.870842 deg/s,
      cmd heading: 53.397523 deg,
      new cmd heading: 54.756750 deg.

2021-08-14T16:27:09.314Z,1628958429.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:09.625Z,1628958429.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:09.625Z,1628958429.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:09.626Z,1628958429.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:09.626Z,1628958429.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:10.021Z,1628958430.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,002AC,184,80,80,A1,FF
2021-08-14T16:27:10.021Z,1628958430.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:10.021Z,1628958430.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:10.023Z,1628958430.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:10.468Z,1628958430.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:10.837Z,1628958430.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,002AD,18A,80,80,7C,FF
2021-08-14T16:27:10.837Z,1628958430.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:10.886Z,1628958430.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:27:11.305Z,1628958431.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162711.83*57

2021-08-14T16:27:11.317Z,1628958431.317 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T16:27:11.362Z,1628958431.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.599999 m, bearing: 349.828137 deg, deltaT: 4.412243 s, approachRate: 0.013599 m/s, LOS rate: -12.399928 deg/s, posRepo size: 4
2021-08-14T16:27:11.363Z,1628958431.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.399928 deg/s. Setting heading cmd to target bearing of 349.828137deg and heading rate command to 0 deg/s.
2021-08-14T16:27:13.746Z,1628958433.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:14.101Z,1628958434.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:14.101Z,1628958434.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:14.101Z,1628958434.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:14.102Z,1628958434.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:14.505Z,1628958434.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,002AD,18A,80,80,7C,FF
2021-08-14T16:27:14.505Z,1628958434.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:14.505Z,1628958434.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:14.507Z,1628958434.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:14.921Z,1628958434.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:15.317Z,1628958435.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,002AD,189,80,80,5E,FF
2021-08-14T16:27:15.317Z,1628958435.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:15.383Z,1628958435.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:27:15.753Z,1628958435.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162716.32*5A

2021-08-14T16:27:15.779Z,1628958435.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.599999 m, bearing: 44.266179 deg, deltaT: 4.497010 s, approachRate: 0.000000 m/s, LOS rate: 12.105387 deg/s, posRepo size: 4
2021-08-14T16:27:15.804Z,1628958435.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.105387 deg/s. Setting heading cmd to target bearing of 44.266179deg and heading rate command to 0 deg/s.
2021-08-14T16:27:18.159Z,1628958438.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:18.554Z,1628958438.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:18.554Z,1628958438.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:18.554Z,1628958438.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:18.555Z,1628958438.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:18.964Z,1628958438.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,002AD,189,80,80,5E,FF
2021-08-14T16:27:18.964Z,1628958438.964 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:18.965Z,1628958438.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:18.966Z,1628958438.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:19.368Z,1628958439.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:19.785Z,1628958439.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,002AD,188,80,80,78,FF
2021-08-14T16:27:19.785Z,1628958439.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:19.806Z,1628958439.806 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:27:20.197Z,1628958440.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162720.78*51

2021-08-14T16:27:20.248Z,1628958440.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.599999 m, bearing: 40.953473 deg, deltaT: 4.423492 s, approachRate: 0.000000 m/s, LOS rate: -0.748889 deg/s, posRepo size: 4
2021-08-14T16:27:20.249Z,1628958440.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2021-08-14T16:27:20.249Z,1628958440.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.60 m. Cable present.
2021-08-14T16:27:20.249Z,1628958440.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T16:27:20.249Z,1628958440.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T16:27:20.253Z,1628958440.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-14T16:27:20.593Z,1628958440.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-14T16:27:20.593Z,1628958440.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-14T16:27:20.593Z,1628958440.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-14T16:27:21.006Z,1628958441.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-14T16:27:21.007Z,1628958441.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:27:21.007Z,1628958441.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T16:27:21.007Z,1628958441.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:27:21.007Z,1628958441.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T16:27:21.007Z,1628958441.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T16:27:21.007Z,1628958441.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T16:27:21.008Z,1628958441.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:27:21.426Z,1628958441.426 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:27:21.463Z,1628958441.463 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T16:27:21.464Z,1628958441.464 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T16:27:21.465Z,1628958441.465 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T16:27:21.465Z,1628958441.465 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T16:27:21.465Z,1628958441.465 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T16:27:21.465Z,1628958441.465 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T16:27:21.465Z,1628958441.465 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:27:21.465Z,1628958441.465 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T16:27:21.466Z,1628958441.466 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-14T16:27:21.466Z,1628958441.466 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T16:27:21.466Z,1628958441.466 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T16:27:21.466Z,1628958441.466 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T16:27:21.466Z,1628958441.466 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T16:27:21.466Z,1628958441.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T16:27:21.467Z,1628958441.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:27:21.467Z,1628958441.467 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-14T16:27:21.467Z,1628958441.467 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-14T16:27:21.781Z,1628958441.781 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-14T16:27:21.781Z,1628958441.781 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T16:27:22.579Z,1628958442.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:22.967Z,1628958442.967 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:22.967Z,1628958442.967 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:22.967Z,1628958442.967 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:22.968Z,1628958442.968 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:23.373Z,1628958443.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,002AD,188,80,80,78,FF
2021-08-14T16:27:23.373Z,1628958443.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:23.373Z,1628958443.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:23.375Z,1628958443.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:23.780Z,1628958443.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:24.179Z,1628958444.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,002AD,189,80,80,68,FF
2021-08-14T16:27:24.179Z,1628958444.179 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:24.601Z,1628958444.601 [Micromodem](INFO): Nmea in: $SNTTA,0.050348,,,,162725.19*47

2021-08-14T16:27:25.029Z,1628958445.029 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-14T16:27:25.029Z,1628958445.029 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-14T16:27:25.029Z,1628958445.029 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T16:27:25.029Z,1628958445.029 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-14T16:27:25.475Z,1628958445.475 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-14T16:27:25.475Z,1628958445.475 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-14T16:27:25.477Z,1628958445.477 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T16:27:25.478Z,1628958445.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T16:27:25.479Z,1628958445.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T16:27:25.823Z,1628958445.823 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-14T16:27:25.823Z,1628958445.823 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T16:27:25.824Z,1628958445.824 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T16:27:25.824Z,1628958445.824 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-14T16:27:26.257Z,1628958446.257 [lineCaptureDepth:Lap:C] Stopped
2021-08-14T16:27:26.257Z,1628958446.257 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-14T16:27:26.658Z,1628958446.658 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-14T16:27:26.658Z,1628958446.658 [lineCaptureDepth:Lap:D] Stopped
2021-08-14T16:27:26.658Z,1628958446.658 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-14T16:27:26.658Z,1628958446.658 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-14T16:27:26.658Z,1628958446.658 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-14T16:27:27.030Z,1628958447.030 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-14T16:27:27.030Z,1628958447.030 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-14T16:27:27.030Z,1628958447.030 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-14T16:27:27.030Z,1628958447.030 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-14T16:27:27.030Z,1628958447.030 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T16:27:27.031Z,1628958447.031 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-14T16:27:27.031Z,1628958447.031 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-14T16:27:27.032Z,1628958447.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:27.426Z,1628958447.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:27.426Z,1628958447.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:27.426Z,1628958447.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:27.427Z,1628958447.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:27.822Z,1628958447.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,002AD,189,80,80,68,FF
2021-08-14T16:27:27.822Z,1628958447.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:27.823Z,1628958447.823 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:27.825Z,1628958447.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:28.329Z,1628958448.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:28.657Z,1628958448.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,002AF,187,80,80,75,FF
2021-08-14T16:27:28.657Z,1628958448.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:29.086Z,1628958449.086 [Micromodem](INFO): Nmea in: $SNTTA,0.006065,,,,162729.64*4E

2021-08-14T16:27:31.535Z,1628958451.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:31.882Z,1628958451.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:31.882Z,1628958451.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:31.882Z,1628958451.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:31.884Z,1628958451.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:32.281Z,1628958452.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,002AF,187,80,80,75,FF
2021-08-14T16:27:32.281Z,1628958452.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:32.281Z,1628958452.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:32.283Z,1628958452.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:32.707Z,1628958452.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:33.086Z,1628958453.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,002B0,188,80,80,6D,FF
2021-08-14T16:27:33.086Z,1628958453.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:33.537Z,1628958453.537 [Micromodem](INFO): Nmea in: $SNTTA,0.345865,,,,162734.09*45

2021-08-14T16:27:35.957Z,1628958455.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:36.322Z,1628958456.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:36.322Z,1628958456.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:36.323Z,1628958456.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:36.324Z,1628958456.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:36.733Z,1628958456.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,002B0,188,80,80,6D,FF
2021-08-14T16:27:36.733Z,1628958456.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:36.734Z,1628958456.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:36.758Z,1628958456.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:37.139Z,1628958457.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:37.544Z,1628958457.544 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,002AE,185,80,80,7B,FF
2021-08-14T16:27:37.545Z,1628958457.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:37.969Z,1628958457.969 [Micromodem](INFO): Nmea in: $SNTTA,0.029848,,,,162738.57*44

2021-08-14T16:27:39.564Z,1628958459.564 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:27:40.390Z,1628958460.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:40.841Z,1628958460.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:40.841Z,1628958460.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:40.841Z,1628958460.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:40.842Z,1628958460.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:41.203Z,1628958461.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,002AE,185,80,80,7B,FF
2021-08-14T16:27:41.214Z,1628958461.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:41.214Z,1628958461.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:41.227Z,1628958461.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:41.338Z,1628958461.338 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:27:41.588Z,1628958461.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:41.977Z,1628958461.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,369,000,002B2,189,80,80,6E,FF
2021-08-14T16:27:41.977Z,1628958461.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:42.402Z,1628958462.402 [Micromodem](INFO): Nmea in: $SNTTA,0.006163,,,,162743.04*43

2021-08-14T16:27:44.835Z,1628958464.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:45.249Z,1628958465.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:45.249Z,1628958465.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:45.249Z,1628958465.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:45.250Z,1628958465.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:45.618Z,1628958465.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
369,000,002B2,189,80,80,6E,FF
2021-08-14T16:27:45.618Z,1628958465.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:45.618Z,1628958465.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:45.621Z,1628958465.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:46.025Z,1628958466.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:46.466Z,1628958466.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,002B2,186,80,80,8A,FF
2021-08-14T16:27:46.467Z,1628958466.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:46.861Z,1628958466.861 [Micromodem](INFO): Nmea in: $SNTTA,0.043660,,,,162747.43*41

2021-08-14T16:27:49.273Z,1628958469.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:49.657Z,1628958469.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:49.657Z,1628958469.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:49.657Z,1628958469.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:49.658Z,1628958469.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:50.029Z,1628958470.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,002B2,186,80,80,8A,FF
2021-08-14T16:27:50.029Z,1628958470.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:50.029Z,1628958470.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:50.031Z,1628958470.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:50.441Z,1628958470.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:50.945Z,1628958470.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,002B1,189,80,80,9B,FF
2021-08-14T16:27:50.946Z,1628958470.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:51.301Z,1628958471.301 [Micromodem](INFO): Nmea in: $SNTTA,0.406549,0.406511,,,162751.85*58

2021-08-14T16:27:53.730Z,1628958473.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:54.101Z,1628958474.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:54.101Z,1628958474.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:54.101Z,1628958474.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:54.102Z,1628958474.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:54.509Z,1628958474.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,002B1,189,80,80,9B,FF
2021-08-14T16:27:54.509Z,1628958474.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:54.509Z,1628958474.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:54.511Z,1628958474.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:54.917Z,1628958474.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:55.313Z,1628958475.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,002B1,187,80,80,7E,FF
2021-08-14T16:27:55.313Z,1628958475.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:27:55.317Z,1628958475.317 [Micromodem](INFO): Nmea in: $SNTTA,0.031572,0.232309,,,162756.32*55

2021-08-14T16:27:58.154Z,1628958478.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:27:58.545Z,1628958478.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:27:58.545Z,1628958478.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:27:58.545Z,1628958478.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:27:58.546Z,1628958478.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:27:58.949Z,1628958478.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,002B1,187,80,80,7E,FF
2021-08-14T16:27:58.949Z,1628958478.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:27:58.949Z,1628958478.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:27:58.951Z,1628958478.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:27:59.329Z,1628958479.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:27:59.757Z,1628958479.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,002B2,189,80,80,84,FF
2021-08-14T16:27:59.757Z,1628958479.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:00.169Z,1628958480.169 [Micromodem](INFO): Nmea in: $SNTTA,0.026458,,,,162800.76*41

2021-08-14T16:28:02.633Z,1628958482.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:02.993Z,1628958482.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:02.994Z,1628958482.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:02.994Z,1628958482.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:02.995Z,1628958482.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:03.429Z,1628958483.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,002B2,189,80,80,84,FF
2021-08-14T16:28:03.429Z,1628958483.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:03.429Z,1628958483.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:03.431Z,1628958483.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:03.809Z,1628958483.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:04.205Z,1628958484.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEC,000,002B2,187,80,80,88,FF
2021-08-14T16:28:04.205Z,1628958484.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:04.623Z,1628958484.623 [Micromodem](INFO): Nmea in: $SNTTA,0.040171,,,,162805.24*4D

2021-08-14T16:28:07.051Z,1628958487.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:07.473Z,1628958487.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:07.473Z,1628958487.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:07.473Z,1628958487.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:07.474Z,1628958487.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:07.833Z,1628958487.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEC,000,002B2,187,80,80,88,FF
2021-08-14T16:28:07.834Z,1628958487.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:07.834Z,1628958487.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:07.835Z,1628958487.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:08.253Z,1628958488.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:08.649Z,1628958488.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,002B2,186,80,80,8B,FF
2021-08-14T16:28:08.650Z,1628958488.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:09.073Z,1628958489.073 [Micromodem](INFO): Nmea in: $SNTTA,0.028940,,,,162809.65*40

2021-08-14T16:28:11.249Z,1628958491.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:11.487Z,1628958491.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:11.487Z,1628958491.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:11.488Z,1628958491.488 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:11.489Z,1628958491.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:11.877Z,1628958491.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,002B2,186,80,80,8B,FF
2021-08-14T16:28:11.877Z,1628958491.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:11.877Z,1628958491.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:11.879Z,1628958491.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:12.284Z,1628958492.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:12.694Z,1628958492.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,002B2,186,80,80,8B,FF
2021-08-14T16:28:12.694Z,1628958492.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:13.125Z,1628958493.125 [Micromodem](INFO): Nmea in: $SNTTA,0.032057,,,,162813.69*43

2021-08-14T16:28:15.590Z,1628958495.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:15.915Z,1628958495.915 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:15.915Z,1628958495.915 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:15.916Z,1628958495.916 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:15.918Z,1628958495.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:16.325Z,1628958496.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,002B2,186,80,80,8B,FF
2021-08-14T16:28:16.325Z,1628958496.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:16.326Z,1628958496.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:16.327Z,1628958496.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:16.732Z,1628958496.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:17.133Z,1628958497.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,002B2,186,80,80,8D,FF
2021-08-14T16:28:17.133Z,1628958497.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:17.549Z,1628958497.549 [Micromodem](INFO): Nmea in: $SNTTA,0.021283,0.325943,,,162818.14*5F

2021-08-14T16:28:19.974Z,1628958499.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:20.333Z,1628958500.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:20.333Z,1628958500.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:20.333Z,1628958500.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:20.334Z,1628958500.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:20.733Z,1628958500.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,002B2,186,80,80,8D,FF
2021-08-14T16:28:20.733Z,1628958500.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:20.733Z,1628958500.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:20.735Z,1628958500.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:21.261Z,1628958501.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:21.569Z,1628958501.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,002B1,185,80,80,76,FF
2021-08-14T16:28:21.570Z,1628958501.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:22.001Z,1628958502.001 [Micromodem](INFO): Nmea in: $SNTTA,0.023356,,,,162822.55*4C

2021-08-14T16:28:22.491Z,1628958502.491 [CTD_Seabird](ERROR): Failed to parse device response: 08,4802.38
2021-08-14T16:28:24.450Z,1628958504.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:24.805Z,1628958504.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:24.805Z,1628958504.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:24.805Z,1628958504.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:24.806Z,1628958504.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:25.249Z,1628958505.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,002B1,185,80,80,76,FF
2021-08-14T16:28:25.249Z,1628958505.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:25.249Z,1628958505.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:25.251Z,1628958505.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:25.623Z,1628958505.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:26.022Z,1628958506.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,002B1,189,80,80,72,FF
2021-08-14T16:28:26.022Z,1628958506.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:26.477Z,1628958506.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162827.07*51

2021-08-14T16:28:28.870Z,1628958508.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:29.257Z,1628958509.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:29.257Z,1628958509.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:29.257Z,1628958509.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:29.258Z,1628958509.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:29.642Z,1628958509.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,002B1,189,80,80,72,FF
2021-08-14T16:28:29.643Z,1628958509.643 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:29.643Z,1628958509.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:29.645Z,1628958509.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:30.061Z,1628958510.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:30.430Z,1628958510.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D73,000,002B2,189,80,80,73,FF
2021-08-14T16:28:30.431Z,1628958510.431 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:30.865Z,1628958510.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162831.46*53

2021-08-14T16:28:33.346Z,1628958513.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:33.693Z,1628958513.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:33.693Z,1628958513.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:33.693Z,1628958513.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:33.694Z,1628958513.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:34.097Z,1628958514.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D73,000,002B2,189,80,80,73,FF
2021-08-14T16:28:34.097Z,1628958514.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:34.097Z,1628958514.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:34.099Z,1628958514.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:34.513Z,1628958514.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:34.905Z,1628958514.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,002B2,189,80,80,8D,FF
2021-08-14T16:28:34.905Z,1628958514.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:35.342Z,1628958515.342 [Micromodem](INFO): Nmea in: $SNTTA,0.019751,,,,162835.91*48

2021-08-14T16:28:37.765Z,1628958517.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:38.137Z,1628958518.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:38.137Z,1628958518.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:38.137Z,1628958518.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:38.138Z,1628958518.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:38.545Z,1628958518.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,002B2,189,80,80,8D,FF
2021-08-14T16:28:38.545Z,1628958518.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:38.545Z,1628958518.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:38.547Z,1628958518.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:38.963Z,1628958518.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:39.349Z,1628958519.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,002B2,189,80,80,84,FF
2021-08-14T16:28:39.349Z,1628958519.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:39.757Z,1628958519.757 [Micromodem](INFO): Nmea in: $SNTTA,0.071160,,,,162840.36*4D

2021-08-14T16:28:42.202Z,1628958522.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:42.585Z,1628958522.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:42.585Z,1628958522.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:42.585Z,1628958522.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:42.586Z,1628958522.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:42.989Z,1628958522.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,002B2,189,80,80,84,FF
2021-08-14T16:28:42.989Z,1628958522.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:42.989Z,1628958522.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:42.991Z,1628958522.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:43.420Z,1628958523.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:43.789Z,1628958523.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA5,000,002B2,188,80,80,78,FF
2021-08-14T16:28:43.790Z,1628958523.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:44.233Z,1628958524.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162844.80*5B

2021-08-14T16:28:46.681Z,1628958526.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:47.025Z,1628958527.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:47.025Z,1628958527.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:47.025Z,1628958527.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:47.026Z,1628958527.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:47.453Z,1628958527.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA5,000,002B2,188,80,80,78,FF
2021-08-14T16:28:47.453Z,1628958527.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:47.453Z,1628958527.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:47.455Z,1628958527.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:47.841Z,1628958527.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:48.241Z,1628958528.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E38,000,002B3,187,80,80,7E,FF
2021-08-14T16:28:48.242Z,1628958528.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:48.680Z,1628958528.680 [Micromodem](INFO): Nmea in: $SNTTA,0.081706,,,,162849.27*4D

2021-08-14T16:28:50.868Z,1628958530.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:51.033Z,1628958531.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:51.033Z,1628958531.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:51.033Z,1628958531.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:51.034Z,1628958531.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:51.553Z,1628958531.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E38,000,002B3,187,80,80,7E,FF
2021-08-14T16:28:51.553Z,1628958531.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:51.553Z,1628958531.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:51.555Z,1628958531.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:51.880Z,1628958531.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:52.293Z,1628958532.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,002B3,186,80,80,8B,FF
2021-08-14T16:28:52.293Z,1628958532.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:53.105Z,1628958533.105 [Micromodem](INFO): Nmea in: $SNTTA,0.007288,,,,162853.37*4A

2021-08-14T16:28:55.155Z,1628958535.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:55.526Z,1628958535.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:55.526Z,1628958535.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:55.526Z,1628958535.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:55.527Z,1628958535.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:28:55.917Z,1628958535.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,002B3,186,80,80,8B,FF
2021-08-14T16:28:55.917Z,1628958535.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:28:55.917Z,1628958535.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:28:55.919Z,1628958535.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:28:56.353Z,1628958536.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:28:56.721Z,1628958536.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,002B3,186,80,80,70,FF
2021-08-14T16:28:56.721Z,1628958536.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:28:57.192Z,1628958537.192 [Micromodem](INFO): Nmea in: $SNTTA,0.034116,,,,162857.73*4A

2021-08-14T16:28:59.611Z,1628958539.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:28:59.925Z,1628958539.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:28:59.925Z,1628958539.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:28:59.925Z,1628958539.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:28:59.926Z,1628958539.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:00.359Z,1628958540.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,002B3,186,80,80,70,FF
2021-08-14T16:29:00.359Z,1628958540.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:00.359Z,1628958540.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:00.379Z,1628958540.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:00.733Z,1628958540.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:01.141Z,1628958541.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,002B2,189,80,80,71,FF
2021-08-14T16:29:01.142Z,1628958541.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:01.657Z,1628958541.657 [Micromodem](INFO): Nmea in: $SNTTA,0.295514,,,,162902.20*42

2021-08-14T16:29:04.007Z,1628958544.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:04.425Z,1628958544.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:04.425Z,1628958544.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:04.426Z,1628958544.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:04.427Z,1628958544.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:04.801Z,1628958544.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,002B2,189,80,80,71,FF
2021-08-14T16:29:04.801Z,1628958544.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:04.801Z,1628958544.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:04.803Z,1628958544.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:05.263Z,1628958545.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:05.621Z,1628958545.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,002B2,188,80,80,83,FF
2021-08-14T16:29:05.622Z,1628958545.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:08.492Z,1628958548.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:08.849Z,1628958548.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:08.849Z,1628958548.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:08.850Z,1628958548.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:08.851Z,1628958548.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:09.264Z,1628958549.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,002B2,188,80,80,83,FF
2021-08-14T16:29:09.264Z,1628958549.264 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:09.265Z,1628958549.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:09.266Z,1628958549.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:09.657Z,1628958549.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:10.021Z,1628958550.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,002B0,189,80,80,6B,FF
2021-08-14T16:29:10.022Z,1628958550.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:10.481Z,1628958550.481 [Micromodem](INFO): Nmea in: $SNTTA,0.043442,,,,162911.08*41

2021-08-14T16:29:12.934Z,1628958552.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:13.289Z,1628958553.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:13.290Z,1628958553.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:13.290Z,1628958553.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:13.291Z,1628958553.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:13.697Z,1628958553.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,002B0,189,80,80,6B,FF
2021-08-14T16:29:13.698Z,1628958553.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:13.698Z,1628958553.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:13.699Z,1628958553.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:14.097Z,1628958554.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:14.501Z,1628958554.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,002B1,188,80,80,82,FF
2021-08-14T16:29:14.502Z,1628958554.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:14.929Z,1628958554.929 [Micromodem](INFO): Nmea in: $SNTTA,0.022330,,,,162915.52*4F

2021-08-14T16:29:17.425Z,1628958557.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:17.741Z,1628958557.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:17.741Z,1628958557.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:17.741Z,1628958557.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:17.742Z,1628958557.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:18.133Z,1628958558.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,002B1,188,80,80,82,FF
2021-08-14T16:29:18.133Z,1628958558.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:18.133Z,1628958558.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:18.135Z,1628958558.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:18.551Z,1628958558.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:18.937Z,1628958558.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,002B2,189,80,80,6C,FF
2021-08-14T16:29:18.938Z,1628958558.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:19.358Z,1628958559.358 [Micromodem](INFO): Nmea in: $SNTTA,0.028793,0.458822,,,162919.95*50

2021-08-14T16:29:21.863Z,1628958561.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:22.173Z,1628958562.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:22.173Z,1628958562.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:22.173Z,1628958562.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:22.174Z,1628958562.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:22.585Z,1628958562.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,002B2,189,80,80,6C,FF
2021-08-14T16:29:22.585Z,1628958562.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:22.585Z,1628958562.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:22.587Z,1628958562.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:22.999Z,1628958562.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:23.389Z,1628958563.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,002B2,18A,80,80,5F,FF
2021-08-14T16:29:23.389Z,1628958563.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:23.838Z,1628958563.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162924.40*50

2021-08-14T16:29:26.236Z,1628958566.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:26.635Z,1628958566.635 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:26.635Z,1628958566.635 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:26.635Z,1628958566.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:26.640Z,1628958566.640 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:27.025Z,1628958567.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,002B2,18A,80,80,5F,FF
2021-08-14T16:29:27.025Z,1628958567.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:27.025Z,1628958567.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:27.027Z,1628958567.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:27.454Z,1628958567.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:27.845Z,1628958567.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,002B3,186,80,80,7A,FF
2021-08-14T16:29:27.845Z,1628958567.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:28.266Z,1628958568.266 [Micromodem](INFO): Nmea in: $SNTTA,0.123942,,,,162928.84*45

2021-08-14T16:29:30.702Z,1628958570.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:31.038Z,1628958571.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:31.038Z,1628958571.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:31.038Z,1628958571.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:31.039Z,1628958571.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:31.443Z,1628958571.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,002B3,186,80,80,7A,FF
2021-08-14T16:29:31.443Z,1628958571.443 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:31.443Z,1628958571.443 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:31.445Z,1628958571.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:31.957Z,1628958571.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:32.289Z,1628958572.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,002B1,189,80,80,6F,FF
2021-08-14T16:29:32.289Z,1628958572.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:35.133Z,1628958575.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:35.517Z,1628958575.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:35.517Z,1628958575.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:35.518Z,1628958575.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:35.519Z,1628958575.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:35.917Z,1628958575.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,002B1,189,80,80,6F,FF
2021-08-14T16:29:35.917Z,1628958575.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:35.917Z,1628958575.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:35.919Z,1628958575.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:36.348Z,1628958576.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:36.721Z,1628958576.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,002B1,18A,80,80,6C,FF
2021-08-14T16:29:36.722Z,1628958576.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:37.178Z,1628958577.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162937.73*52

2021-08-14T16:29:39.603Z,1628958579.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:39.953Z,1628958579.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:39.953Z,1628958579.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:39.953Z,1628958579.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:39.954Z,1628958579.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:40.329Z,1628958580.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,002B1,18A,80,80,6C,FF
2021-08-14T16:29:40.329Z,1628958580.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:40.329Z,1628958580.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:40.331Z,1628958580.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:40.771Z,1628958580.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:41.139Z,1628958581.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,002B1,186,80,80,6A,FF
2021-08-14T16:29:41.139Z,1628958581.139 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:41.557Z,1628958581.557 [Micromodem](INFO): Nmea in: $SNTTA,0.060913,,,,162942.14*42

2021-08-14T16:29:44.025Z,1628958584.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:44.397Z,1628958584.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:44.397Z,1628958584.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:44.397Z,1628958584.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:44.398Z,1628958584.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:44.801Z,1628958584.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,002B1,186,80,80,6A,FF
2021-08-14T16:29:44.801Z,1628958584.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:44.801Z,1628958584.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:44.803Z,1628958584.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:45.253Z,1628958585.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:45.610Z,1628958585.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,002B1,186,80,80,64,FF
2021-08-14T16:29:45.610Z,1628958585.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:48.483Z,1628958588.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:48.845Z,1628958588.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:48.845Z,1628958588.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:48.845Z,1628958588.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:48.846Z,1628958588.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:49.253Z,1628958589.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,002B1,186,80,80,64,FF
2021-08-14T16:29:49.253Z,1628958589.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:49.253Z,1628958589.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:49.255Z,1628958589.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:49.661Z,1628958589.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:50.057Z,1628958590.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,002B1,187,80,80,66,FF
2021-08-14T16:29:50.057Z,1628958590.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:50.485Z,1628958590.485 [Micromodem](INFO): Nmea in: $SNTTA,0.032039,,,,162951.07*44

2021-08-14T16:29:52.933Z,1628958592.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:53.285Z,1628958593.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:53.286Z,1628958593.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:53.286Z,1628958593.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:53.287Z,1628958593.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:53.685Z,1628958593.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,002B1,187,80,80,66,FF
2021-08-14T16:29:53.685Z,1628958593.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:53.685Z,1628958593.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:53.687Z,1628958593.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:54.097Z,1628958594.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:54.501Z,1628958594.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D55,000,002B2,189,80,80,57,FF
2021-08-14T16:29:54.502Z,1628958594.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:54.937Z,1628958594.937 [Micromodem](INFO): Nmea in: $SNTTA,0.029050,,,,162955.50*47

2021-08-14T16:29:57.413Z,1628958597.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:29:57.733Z,1628958597.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:29:57.733Z,1628958597.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:29:57.733Z,1628958597.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:29:57.734Z,1628958597.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:29:58.133Z,1628958598.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D55,000,002B2,189,80,80,57,FF
2021-08-14T16:29:58.133Z,1628958598.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:29:58.133Z,1628958598.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:29:58.135Z,1628958598.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:29:58.551Z,1628958598.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:29:58.949Z,1628958598.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,002B1,186,80,80,6B,FF
2021-08-14T16:29:58.950Z,1628958598.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:29:59.369Z,1628958599.369 [Micromodem](INFO): Nmea in: $SNTTA,0.461259,,,,162959.95*41

2021-08-14T16:30:01.751Z,1628958601.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:02.241Z,1628958602.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:02.241Z,1628958602.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:02.242Z,1628958602.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:02.243Z,1628958602.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:02.581Z,1628958602.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,002B1,186,80,80,6B,FF
2021-08-14T16:30:02.581Z,1628958602.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:02.581Z,1628958602.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:02.583Z,1628958602.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:03.024Z,1628958603.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:03.400Z,1628958603.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,002B1,188,80,80,6F,FF
2021-08-14T16:30:03.401Z,1628958603.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:03.431Z,1628958603.431 [Micromodem](INFO): Nmea in: $SNTTA,0.235515,0.235478,,,163004.40*50

2021-08-14T16:30:06.250Z,1628958606.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:06.629Z,1628958606.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:06.630Z,1628958606.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:06.630Z,1628958606.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:06.631Z,1628958606.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:07.033Z,1628958607.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,002B1,188,80,80,6F,FF
2021-08-14T16:30:07.033Z,1628958607.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:07.033Z,1628958607.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:07.035Z,1628958607.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:07.445Z,1628958607.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:07.837Z,1628958607.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,002B1,18A,80,80,76,FF
2021-08-14T16:30:07.838Z,1628958607.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:08.266Z,1628958608.266 [Micromodem](INFO): Nmea in: $SNTTA,0.018601,,,,163008.85*4F

2021-08-14T16:30:10.649Z,1628958610.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:11.069Z,1628958611.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:11.069Z,1628958611.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:11.069Z,1628958611.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:11.070Z,1628958611.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:11.433Z,1628958611.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,002B1,18A,80,80,76,FF
2021-08-14T16:30:11.433Z,1628958611.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:11.433Z,1628958611.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:11.435Z,1628958611.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:11.849Z,1628958611.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:12.346Z,1628958612.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D91,000,002B1,189,80,80,78,FF
2021-08-14T16:30:12.346Z,1628958612.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:12.697Z,1628958612.697 [Micromodem](INFO): Nmea in: $SNTTA,0.025966,,,,163013.25*4F

2021-08-14T16:30:15.130Z,1628958615.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:15.498Z,1628958615.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:15.498Z,1628958615.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:15.499Z,1628958615.499 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:15.499Z,1628958615.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:15.917Z,1628958615.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D91,000,002B1,189,80,80,78,FF
2021-08-14T16:30:15.917Z,1628958615.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:15.917Z,1628958615.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:15.919Z,1628958615.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:16.317Z,1628958616.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:16.725Z,1628958616.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,002B3,189,80,80,7E,FF
2021-08-14T16:30:16.725Z,1628958616.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:17.157Z,1628958617.157 [Micromodem](INFO): Nmea in: $SNTTA,0.022434,,,,163017.74*42

2021-08-14T16:30:19.609Z,1628958619.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:19.954Z,1628958619.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:19.954Z,1628958619.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:19.954Z,1628958619.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:19.955Z,1628958619.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:20.357Z,1628958620.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D90,000,002B3,189,80,80,7E,FF
2021-08-14T16:30:20.357Z,1628958620.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:20.358Z,1628958620.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:20.359Z,1628958620.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:20.738Z,1628958620.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:21.169Z,1628958621.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,002B3,187,80,80,7C,FF
2021-08-14T16:30:21.170Z,1628958621.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:21.194Z,1628958621.194 [Micromodem](INFO): Nmea in: $SNTTA,0.002253,0.306583,,,163022.18*5E

2021-08-14T16:30:24.021Z,1628958624.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:24.393Z,1628958624.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:24.393Z,1628958624.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:24.393Z,1628958624.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:24.394Z,1628958624.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:24.798Z,1628958624.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,002B3,187,80,80,7C,FF
2021-08-14T16:30:24.798Z,1628958624.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:24.799Z,1628958624.799 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:24.801Z,1628958624.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:25.241Z,1628958625.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:25.606Z,1628958625.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,002B1,189,80,80,6B,FF
2021-08-14T16:30:25.607Z,1628958625.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:26.061Z,1628958626.061 [Micromodem](INFO): Nmea in: $SNTTA,0.002221,,,,163026.62*47

2021-08-14T16:30:28.478Z,1628958628.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:28.837Z,1628958628.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:28.837Z,1628958628.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:28.838Z,1628958628.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:28.839Z,1628958628.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:29.253Z,1628958629.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,002B1,189,80,80,6B,FF
2021-08-14T16:30:29.253Z,1628958629.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:29.253Z,1628958629.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:29.255Z,1628958629.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:29.673Z,1628958629.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:30.054Z,1628958630.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,002B1,18A,80,80,84,FF
2021-08-14T16:30:30.054Z,1628958630.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:30.498Z,1628958630.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163031.07*5F

2021-08-14T16:30:32.601Z,1628958632.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:32.877Z,1628958632.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:32.877Z,1628958632.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:32.877Z,1628958632.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:32.878Z,1628958632.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:33.281Z,1628958633.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,002B1,18A,80,80,84,FF
2021-08-14T16:30:33.281Z,1628958633.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:33.281Z,1628958633.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:33.283Z,1628958633.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:33.693Z,1628958633.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:34.089Z,1628958634.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,002B1,187,80,80,7B,FF
2021-08-14T16:30:34.090Z,1628958634.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:34.530Z,1628958634.530 [Micromodem](INFO): Nmea in: $SNTTA,0.002213,,,,163035.10*41

2021-08-14T16:30:36.951Z,1628958636.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:37.325Z,1628958637.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:37.325Z,1628958637.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:37.325Z,1628958637.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:37.326Z,1628958637.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:37.733Z,1628958637.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,002B1,187,80,80,7B,FF
2021-08-14T16:30:37.733Z,1628958637.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:37.734Z,1628958637.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:37.735Z,1628958637.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:38.136Z,1628958638.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:38.533Z,1628958638.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,002B1,187,80,80,7D,FF
2021-08-14T16:30:38.533Z,1628958638.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:38.974Z,1628958638.974 [Micromodem](INFO): Nmea in: $SNTTA,0.064253,,,,163039.55*48

2021-08-14T16:30:41.481Z,1628958641.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:41.745Z,1628958641.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:41.745Z,1628958641.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:41.746Z,1628958641.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:41.746Z,1628958641.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:42.157Z,1628958642.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,002B1,187,80,80,7D,FF
2021-08-14T16:30:42.158Z,1628958642.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:42.158Z,1628958642.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:42.164Z,1628958642.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:42.655Z,1628958642.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:42.989Z,1628958642.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,002B2,188,80,80,7D,FF
2021-08-14T16:30:42.989Z,1628958642.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:43.422Z,1628958643.422 [Micromodem](INFO): Nmea in: $SNTTA,0.104835,0.404151,,,163043.98*52

2021-08-14T16:30:45.834Z,1628958645.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:46.213Z,1628958646.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:46.213Z,1628958646.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:46.214Z,1628958646.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:46.215Z,1628958646.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:46.618Z,1628958646.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,002B2,188,80,80,7D,FF
2021-08-14T16:30:46.618Z,1628958646.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:46.618Z,1628958646.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:46.621Z,1628958646.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:47.025Z,1628958647.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:47.461Z,1628958647.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,002B1,18A,80,80,7C,FF
2021-08-14T16:30:47.461Z,1628958647.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:47.465Z,1628958647.465 [Micromodem](INFO): Nmea in: $SNTTA,0.083127,0.214660,,,163048.44*5E

2021-08-14T16:30:50.267Z,1628958650.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:50.665Z,1628958650.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:50.665Z,1628958650.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:50.665Z,1628958650.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:50.666Z,1628958650.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:51.041Z,1628958651.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,002B1,18A,80,80,7C,FF
2021-08-14T16:30:51.041Z,1628958651.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:51.041Z,1628958651.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:51.043Z,1628958651.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:51.481Z,1628958651.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:51.849Z,1628958651.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,002B1,189,80,80,7E,FF
2021-08-14T16:30:51.850Z,1628958651.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:52.269Z,1628958652.269 [Micromodem](INFO): Nmea in: $SNTTA,0.006409,,,,163052.86*46

2021-08-14T16:30:54.733Z,1628958654.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:55.113Z,1628958655.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:55.114Z,1628958655.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:55.114Z,1628958655.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:55.115Z,1628958655.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:55.513Z,1628958655.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,002B1,189,80,80,7E,FF
2021-08-14T16:30:55.513Z,1628958655.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:55.513Z,1628958655.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:55.515Z,1628958655.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:30:55.925Z,1628958655.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:30:56.321Z,1628958656.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,002B1,186,80,80,80,FF
2021-08-14T16:30:56.321Z,1628958656.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:30:56.749Z,1628958656.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163057.33*58

2021-08-14T16:30:56.755Z,1628958656.755 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:30:59.218Z,1628958659.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:30:59.553Z,1628958659.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:30:59.553Z,1628958659.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:30:59.553Z,1628958659.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:30:59.554Z,1628958659.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:30:59.965Z,1628958659.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,002B1,186,80,80,80,FF
2021-08-14T16:30:59.965Z,1628958659.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:30:59.965Z,1628958659.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:30:59.967Z,1628958659.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:00.365Z,1628958660.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:00.765Z,1628958660.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,002B1,186,80,80,73,FF
2021-08-14T16:31:00.766Z,1628958660.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:01.209Z,1628958661.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163101.78*55

2021-08-14T16:31:03.652Z,1628958663.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:04.001Z,1628958664.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:04.002Z,1628958664.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:04.002Z,1628958664.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:04.003Z,1628958664.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:04.421Z,1628958664.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,002B1,186,80,80,73,FF
2021-08-14T16:31:04.421Z,1628958664.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:04.421Z,1628958664.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:04.423Z,1628958664.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:04.817Z,1628958664.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:05.255Z,1628958665.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,002B2,187,80,80,80,FF
2021-08-14T16:31:05.256Z,1628958665.256 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:05.266Z,1628958665.266 [Micromodem](INFO): Nmea in: $SNTTA,0.059944,0.313655,,,163106.24*59

2021-08-14T16:31:08.058Z,1628958668.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:08.464Z,1628958668.464 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:08.465Z,1628958668.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:08.465Z,1628958668.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:08.466Z,1628958668.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:08.845Z,1628958668.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,002B2,187,80,80,80,FF
2021-08-14T16:31:08.845Z,1628958668.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:08.845Z,1628958668.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:08.847Z,1628958668.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:09.269Z,1628958669.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:09.666Z,1628958669.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,002B1,186,80,80,78,FF
2021-08-14T16:31:09.666Z,1628958669.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:10.089Z,1628958670.089 [Micromodem](INFO): Nmea in: $SNTTA,0.006046,,,,163110.66*40

2021-08-14T16:31:11.695Z,1628958671.695 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:31:12.481Z,1628958672.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:12.961Z,1628958672.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:12.961Z,1628958672.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:12.961Z,1628958672.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:12.962Z,1628958672.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:13.289Z,1628958673.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,002B1,186,80,80,78,FF
2021-08-14T16:31:13.289Z,1628958673.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:13.289Z,1628958673.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:13.291Z,1628958673.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:13.705Z,1628958673.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:14.104Z,1628958674.104 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,002B2,186,80,80,77,FF
2021-08-14T16:31:14.105Z,1628958674.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:14.537Z,1628958674.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163115.11*5F

2021-08-14T16:31:16.548Z,1628958676.548 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:31:16.994Z,1628958676.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:17.333Z,1628958677.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:17.333Z,1628958677.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:17.333Z,1628958677.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:17.334Z,1628958677.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:17.741Z,1628958677.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,002B2,186,80,80,77,FF
2021-08-14T16:31:17.741Z,1628958677.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:17.741Z,1628958677.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:17.743Z,1628958677.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:18.145Z,1628958678.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:18.551Z,1628958678.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,002B1,18A,80,80,75,FF
2021-08-14T16:31:18.551Z,1628958678.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:18.985Z,1628958678.985 [Micromodem](INFO): Nmea in: $SNTTA,0.075229,,,,163119.56*45

2021-08-14T16:31:21.429Z,1628958681.429 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:31:21.456Z,1628958681.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:21.775Z,1628958681.775 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:21.775Z,1628958681.775 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:21.775Z,1628958681.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:21.776Z,1628958681.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:22.145Z,1628958682.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,002B1,18A,80,80,75,FF
2021-08-14T16:31:22.145Z,1628958682.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:22.146Z,1628958682.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:22.147Z,1628958682.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:22.563Z,1628958682.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:23.057Z,1628958683.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,002B1,186,80,80,7C,FF
2021-08-14T16:31:23.058Z,1628958683.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:23.421Z,1628958683.421 [Micromodem](INFO): Nmea in: $SNTTA,0.412484,0.412484,,,163123.96*55

2021-08-14T16:31:25.835Z,1628958685.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:26.221Z,1628958686.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:26.221Z,1628958686.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:26.221Z,1628958686.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:26.222Z,1628958686.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:26.631Z,1628958686.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,002B1,186,80,80,7C,FF
2021-08-14T16:31:26.631Z,1628958686.631 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:26.632Z,1628958686.632 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:26.634Z,1628958686.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:27.029Z,1628958687.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:27.453Z,1628958687.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,002B1,189,80,80,72,FF
2021-08-14T16:31:27.453Z,1628958687.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:27.865Z,1628958687.865 [Micromodem](INFO): Nmea in: $SNTTA,,0.168706,,,163128.45*40

2021-08-14T16:31:30.270Z,1628958690.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:30.665Z,1628958690.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:30.665Z,1628958690.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:30.665Z,1628958690.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:30.666Z,1628958690.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:31.065Z,1628958691.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,002B1,189,80,80,72,FF
2021-08-14T16:31:31.065Z,1628958691.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:31.065Z,1628958691.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:31.067Z,1628958691.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:31.448Z,1628958691.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:31.501Z,1628958691.501 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T16:31:31.879Z,1628958691.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,002B1,18A,80,80,88,FF
2021-08-14T16:31:31.879Z,1628958691.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:32.281Z,1628958692.281 [Micromodem](INFO): Nmea in: $SNTTA,0.026729,,,,163132.88*4C

2021-08-14T16:31:34.729Z,1628958694.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:35.113Z,1628958695.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:35.114Z,1628958695.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:35.114Z,1628958695.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:35.115Z,1628958695.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:35.517Z,1628958695.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,002B1,18A,80,80,88,FF
2021-08-14T16:31:35.517Z,1628958695.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:35.517Z,1628958695.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:35.519Z,1628958695.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:35.917Z,1628958695.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:36.326Z,1628958696.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,002B1,185,80,80,72,FF
2021-08-14T16:31:36.326Z,1628958696.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:36.758Z,1628958696.758 [Micromodem](INFO): Nmea in: $SNTTA,0.025561,,,,163137.34*43

2021-08-14T16:31:36.766Z,1628958696.766 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:31:39.221Z,1628958699.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:39.554Z,1628958699.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:39.554Z,1628958699.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:39.555Z,1628958699.555 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:39.555Z,1628958699.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:39.953Z,1628958699.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,002B1,185,80,80,72,FF
2021-08-14T16:31:39.953Z,1628958699.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:39.953Z,1628958699.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:39.955Z,1628958699.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:40.377Z,1628958700.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:40.758Z,1628958700.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,002B2,187,80,80,7F,FF
2021-08-14T16:31:40.758Z,1628958700.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:41.225Z,1628958701.225 [Micromodem](INFO): Nmea in: $SNTTA,,0.008610,,,163141.77*4F

2021-08-14T16:31:41.569Z,1628958701.569 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:31:43.638Z,1628958703.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:43.993Z,1628958703.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:43.993Z,1628958703.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:43.993Z,1628958703.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:43.994Z,1628958703.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:44.437Z,1628958704.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,002B2,187,80,80,7F,FF
2021-08-14T16:31:44.437Z,1628958704.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:44.438Z,1628958704.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:44.439Z,1628958704.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:44.813Z,1628958704.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:45.245Z,1628958705.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,002B2,188,80,80,76,FF
2021-08-14T16:31:45.246Z,1628958705.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:45.249Z,1628958705.249 [Micromodem](INFO): Nmea in: $SNTTA,0.038830,0.262834,,,163146.26*54

2021-08-14T16:31:48.052Z,1628958708.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:48.472Z,1628958708.472 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:48.472Z,1628958708.472 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:48.472Z,1628958708.472 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:48.473Z,1628958708.473 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:48.853Z,1628958708.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,002B2,188,80,80,76,FF
2021-08-14T16:31:48.853Z,1628958708.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:48.853Z,1628958708.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:48.855Z,1628958708.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:49.278Z,1628958709.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:49.669Z,1628958709.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,002B0,187,80,80,82,FF
2021-08-14T16:31:49.669Z,1628958709.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:50.097Z,1628958710.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163150.68*50

2021-08-14T16:31:52.533Z,1628958712.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:52.865Z,1628958712.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:52.866Z,1628958712.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:52.866Z,1628958712.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:52.867Z,1628958712.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:53.373Z,1628958713.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,002B0,187,80,80,82,FF
2021-08-14T16:31:53.373Z,1628958713.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:53.374Z,1628958713.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:53.375Z,1628958713.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:53.708Z,1628958713.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:54.105Z,1628958714.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,002B0,187,80,80,78,FF
2021-08-14T16:31:54.106Z,1628958714.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:54.938Z,1628958714.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163155.19*53

2021-08-14T16:31:56.947Z,1628958716.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:31:57.337Z,1628958717.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:31:57.337Z,1628958717.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:31:57.337Z,1628958717.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:31:57.338Z,1628958717.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:31:57.741Z,1628958717.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,002B0,187,80,80,78,FF
2021-08-14T16:31:57.741Z,1628958717.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:31:57.741Z,1628958717.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:31:57.743Z,1628958717.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:31:58.155Z,1628958718.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:31:58.549Z,1628958718.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,002B1,188,80,80,6C,FF
2021-08-14T16:31:58.549Z,1628958718.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:31:58.995Z,1628958718.995 [Micromodem](INFO): Nmea in: $SNTTA,0.002177,,,,163159.56*49

2021-08-14T16:32:01.529Z,1628958721.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:01.759Z,1628958721.759 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:01.759Z,1628958721.759 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:01.759Z,1628958721.759 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:01.761Z,1628958721.761 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:02.185Z,1628958722.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,002B1,188,80,80,6C,FF
2021-08-14T16:32:02.185Z,1628958722.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:02.185Z,1628958722.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:02.187Z,1628958722.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:02.565Z,1628958722.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:02.963Z,1628958722.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8E,000,002B1,189,80,80,9A,FF
2021-08-14T16:32:02.963Z,1628958722.963 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:02.985Z,1628958722.985 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T16:32:02.985Z,1628958722.985 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:32:02.985Z,1628958722.985 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T16:32:02.985Z,1628958722.985 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:32:02.985Z,1628958722.985 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T16:32:02.986Z,1628958722.986 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.839998 m 
2021-08-14T16:32:02.986Z,1628958722.986 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T16:32:02.986Z,1628958722.986 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T16:32:02.986Z,1628958722.986 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T16:32:03.521Z,1628958723.521 [Micromodem](INFO): Nmea in: $SNTTA,0.006563,,,,163204.00*44

2021-08-14T16:32:03.595Z,1628958723.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T163203: (41.552319, -70.708603)
2021-08-14T16:32:03.595Z,1628958723.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T16:32:03.595Z,1628958723.595 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T16:32:03.600Z,1628958723.600 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:32:03.600Z,1628958723.600 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T16:32:03.600Z,1628958723.600 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:32:03.600Z,1628958723.600 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T16:32:03.600Z,1628958723.600 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T16:32:03.600Z,1628958723.600 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:32:05.550Z,1628958725.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:05.829Z,1628958725.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:05.829Z,1628958725.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:05.830Z,1628958725.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:05.831Z,1628958725.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:06.225Z,1628958726.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8E,000,002B1,189,80,80,9A,FF
2021-08-14T16:32:06.225Z,1628958726.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:06.225Z,1628958726.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:06.227Z,1628958726.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:06.630Z,1628958726.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:06.659Z,1628958726.659 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:32:07.042Z,1628958727.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A5,000,002B1,185,80,80,7D,FF
2021-08-14T16:32:07.042Z,1628958727.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:07.474Z,1628958727.474 [Micromodem](INFO): Nmea in: $SNTTA,0.411486,0.411480,,,163208.05*53

2021-08-14T16:32:09.565Z,1628958729.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:09.861Z,1628958729.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:09.861Z,1628958729.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:09.861Z,1628958729.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:09.862Z,1628958729.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:10.273Z,1628958730.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A5,000,002B1,185,80,80,7D,FF
2021-08-14T16:32:10.274Z,1628958730.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:10.274Z,1628958730.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:10.275Z,1628958730.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:10.677Z,1628958730.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:11.077Z,1628958731.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,002B0,189,80,80,79,FF
2021-08-14T16:32:11.078Z,1628958731.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:11.502Z,1628958731.502 [Micromodem](INFO): Nmea in: $SNTTA,0.047893,0.387860,,,163212.09*51

2021-08-14T16:32:13.643Z,1628958733.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:13.924Z,1628958733.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:13.925Z,1628958733.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:13.925Z,1628958733.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:13.926Z,1628958733.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:14.317Z,1628958734.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,002B0,189,80,80,79,FF
2021-08-14T16:32:14.317Z,1628958734.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:14.317Z,1628958734.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:14.319Z,1628958734.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:14.722Z,1628958734.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:15.113Z,1628958735.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,002B1,187,80,80,81,FF
2021-08-14T16:32:15.114Z,1628958735.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:15.563Z,1628958735.563 [Micromodem](INFO): Nmea in: $SNTTA,0.056077,,,,163216.13*40

2021-08-14T16:32:17.970Z,1628958737.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:18.345Z,1628958738.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:18.345Z,1628958738.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:18.345Z,1628958738.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:18.346Z,1628958738.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:18.758Z,1628958738.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,002B1,187,80,80,81,FF
2021-08-14T16:32:18.758Z,1628958738.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:18.758Z,1628958738.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:18.760Z,1628958738.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:19.176Z,1628958739.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:19.557Z,1628958739.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,002B1,186,80,80,7D,FF
2021-08-14T16:32:19.558Z,1628958739.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:19.989Z,1628958739.989 [Micromodem](INFO): Nmea in: $SNTTA,0.006402,,,,163220.58*49

2021-08-14T16:32:22.435Z,1628958742.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:22.761Z,1628958742.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:22.761Z,1628958742.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:22.761Z,1628958742.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:22.762Z,1628958742.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:23.209Z,1628958743.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,002B1,186,80,80,7D,FF
2021-08-14T16:32:23.209Z,1628958743.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:23.209Z,1628958743.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:23.211Z,1628958743.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:23.675Z,1628958743.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:24.001Z,1628958744.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,002B2,186,80,80,79,FF
2021-08-14T16:32:24.001Z,1628958744.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:24.449Z,1628958744.449 [Micromodem](INFO): Nmea in: $SNTTA,0.006024,,,,163225.03*42

2021-08-14T16:32:26.851Z,1628958746.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:27.257Z,1628958747.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:27.257Z,1628958747.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:27.257Z,1628958747.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:27.258Z,1628958747.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:27.336Z,1628958747.336 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-14T16:27:27.0Z
2021-08-14T16:32:27.340Z,1628958747.340 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-14T16:32:27.340Z,1628958747.340 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-14T16:32:27.340Z,1628958747.340 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T16:32:27.340Z,1628958747.340 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-14T16:32:27.622Z,1628958747.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,002B2,186,80,80,79,FF
2021-08-14T16:32:27.622Z,1628958747.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:27.622Z,1628958747.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:27.625Z,1628958747.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:27.749Z,1628958747.749 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 3.899999 m .
2021-08-14T16:32:27.749Z,1628958747.749 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-14T16:32:27.749Z,1628958747.749 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-14T16:32:27.750Z,1628958747.750 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-14T16:32:27.750Z,1628958747.750 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T16:32:28.048Z,1628958748.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:28.429Z,1628958748.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,002B0,189,80,80,79,FF
2021-08-14T16:32:28.429Z,1628958748.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:28.433Z,1628958748.433 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:32:28.845Z,1628958748.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163229.44*53

2021-08-14T16:32:31.337Z,1628958751.337 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-14T16:32:31.338Z,1628958751.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:31.680Z,1628958751.680 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:31.680Z,1628958751.680 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:31.680Z,1628958751.680 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:31.681Z,1628958751.681 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:31.716Z,1628958751.716 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T16:32:32.081Z,1628958752.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,002B0,189,80,80,79,FF
2021-08-14T16:32:32.081Z,1628958752.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:32.081Z,1628958752.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:32.083Z,1628958752.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:32.497Z,1628958752.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:32.894Z,1628958752.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,002B1,189,80,80,72,FF
2021-08-14T16:32:32.894Z,1628958752.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:33.333Z,1628958753.333 [Micromodem](INFO): Nmea in: $SNTTA,0.015374,,,,163233.90*4B

2021-08-14T16:32:35.735Z,1628958755.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:36.133Z,1628958756.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:36.133Z,1628958756.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:36.133Z,1628958756.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:36.134Z,1628958756.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:36.533Z,1628958756.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,002B1,189,80,80,72,FF
2021-08-14T16:32:36.533Z,1628958756.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:36.533Z,1628958756.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:36.535Z,1628958756.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:36.933Z,1628958756.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:37.337Z,1628958757.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,002AF,189,80,80,6F,FF
2021-08-14T16:32:37.338Z,1628958757.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:37.399Z,1628958757.399 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:32:37.785Z,1628958757.785 [Micromodem](INFO): Nmea in: $SNTTA,0.028876,,,,163238.35*48

2021-08-14T16:32:40.193Z,1628958760.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:40.573Z,1628958760.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:40.573Z,1628958760.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:40.573Z,1628958760.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:40.574Z,1628958760.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:40.973Z,1628958760.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,002AF,189,80,80,6F,FF
2021-08-14T16:32:40.973Z,1628958760.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:40.974Z,1628958760.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:40.975Z,1628958760.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:41.412Z,1628958761.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:41.781Z,1628958761.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,002B6,187,80,80,7D,FF
2021-08-14T16:32:41.781Z,1628958761.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:41.796Z,1628958761.796 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-14T16:32:42.221Z,1628958762.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163242.79*50

2021-08-14T16:32:44.655Z,1628958764.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:45.013Z,1628958765.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:45.013Z,1628958765.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:45.013Z,1628958765.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:45.014Z,1628958765.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:45.433Z,1628958765.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,002B6,187,80,80,7D,FF
2021-08-14T16:32:45.433Z,1628958765.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:45.433Z,1628958765.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:45.435Z,1628958765.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:45.821Z,1628958765.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:46.225Z,1628958766.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,002C3,186,80,80,8C,FF
2021-08-14T16:32:46.226Z,1628958766.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:46.657Z,1628958766.657 [Micromodem](INFO): Nmea in: $SNTTA,0.023972,,,,163247.25*4F

2021-08-14T16:32:49.068Z,1628958769.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:49.455Z,1628958769.455 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:49.468Z,1628958769.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:49.469Z,1628958769.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:49.470Z,1628958769.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:49.857Z,1628958769.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,002C3,186,80,80,8C,FF
2021-08-14T16:32:49.857Z,1628958769.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:49.857Z,1628958769.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:49.859Z,1628958769.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:50.265Z,1628958770.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:50.677Z,1628958770.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,002D1,186,80,80,88,FF
2021-08-14T16:32:50.677Z,1628958770.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:51.106Z,1628958771.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163251.68*52

2021-08-14T16:32:53.552Z,1628958773.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:53.897Z,1628958773.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:53.897Z,1628958773.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:53.897Z,1628958773.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:53.898Z,1628958773.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:54.301Z,1628958774.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,002D1,186,80,80,88,FF
2021-08-14T16:32:54.301Z,1628958774.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:54.301Z,1628958774.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:54.303Z,1628958774.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:54.717Z,1628958774.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:55.114Z,1628958775.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,002DD,187,80,80,7F,FF
2021-08-14T16:32:55.114Z,1628958775.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:32:55.549Z,1628958775.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163256.12*58

2021-08-14T16:32:57.951Z,1628958777.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:32:58.350Z,1628958778.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:32:58.350Z,1628958778.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:32:58.350Z,1628958778.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:32:58.351Z,1628958778.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:32:58.753Z,1628958778.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,002DD,187,80,80,7F,FF
2021-08-14T16:32:58.753Z,1628958778.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:32:58.753Z,1628958778.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:32:58.755Z,1628958778.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:32:59.191Z,1628958779.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:32:59.553Z,1628958779.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,002E3,186,80,80,A3,FF
2021-08-14T16:32:59.553Z,1628958779.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:00.001Z,1628958780.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163300.58*54

2021-08-14T16:33:02.411Z,1628958782.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:02.789Z,1628958782.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:02.789Z,1628958782.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:02.789Z,1628958782.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:02.790Z,1628958782.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:03.241Z,1628958783.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,002E3,186,80,80,A3,FF
2021-08-14T16:33:03.241Z,1628958783.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:03.241Z,1628958783.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:03.243Z,1628958783.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:03.627Z,1628958783.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:04.013Z,1628958784.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,002EA,186,80,80,B8,FF
2021-08-14T16:33:04.013Z,1628958784.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:04.426Z,1628958784.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163305.06*5A

2021-08-14T16:33:06.855Z,1628958786.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:07.256Z,1628958787.256 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:07.256Z,1628958787.256 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:07.257Z,1628958787.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:07.258Z,1628958787.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:07.638Z,1628958787.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,002EA,186,80,80,B8,FF
2021-08-14T16:33:07.638Z,1628958787.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:07.638Z,1628958787.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:07.640Z,1628958787.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:08.056Z,1628958788.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:08.441Z,1628958788.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,002F1,186,80,80,A2,FF
2021-08-14T16:33:08.441Z,1628958788.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:08.882Z,1628958788.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163309.46*52

2021-08-14T16:33:11.342Z,1628958791.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:11.677Z,1628958791.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:11.677Z,1628958791.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:11.677Z,1628958791.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:11.678Z,1628958791.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:12.082Z,1628958792.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,002F1,186,80,80,A2,FF
2021-08-14T16:33:12.082Z,1628958792.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:12.083Z,1628958792.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:12.086Z,1628958792.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:12.492Z,1628958792.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:12.886Z,1628958792.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,002F8,186,80,80,BA,FF
2021-08-14T16:33:12.887Z,1628958792.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:13.322Z,1628958793.322 [Micromodem](INFO): Nmea in: $SNTTA,0.026349,,,,163313.90*46

2021-08-14T16:33:15.737Z,1628958795.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:16.117Z,1628958796.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:16.117Z,1628958796.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:16.117Z,1628958796.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:16.118Z,1628958796.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:16.549Z,1628958796.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,002F8,186,80,80,BA,FF
2021-08-14T16:33:16.549Z,1628958796.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:16.549Z,1628958796.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:16.551Z,1628958796.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:16.933Z,1628958796.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:17.330Z,1628958797.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,002FE,187,80,80,B5,FF
2021-08-14T16:33:17.330Z,1628958797.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:17.751Z,1628958797.751 [Micromodem](INFO): Nmea in: $SNTTA,0.040893,,,,163318.37*4C

2021-08-14T16:33:20.180Z,1628958800.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:20.561Z,1628958800.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:20.561Z,1628958800.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:20.561Z,1628958800.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:20.562Z,1628958800.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:20.969Z,1628958800.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,002FE,187,80,80,B5,FF
2021-08-14T16:33:20.969Z,1628958800.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:20.969Z,1628958800.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:20.971Z,1628958800.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:21.390Z,1628958801.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:21.773Z,1628958801.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00305,186,80,80,BC,FF
2021-08-14T16:33:21.773Z,1628958801.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:22.214Z,1628958802.214 [Micromodem](INFO): Nmea in: $SNTTA,0.025069,,,,163322.79*41

2021-08-14T16:33:24.633Z,1628958804.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:25.001Z,1628958805.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:25.001Z,1628958805.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:25.001Z,1628958805.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:25.002Z,1628958805.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:25.417Z,1628958805.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00305,186,80,80,BC,FF
2021-08-14T16:33:25.417Z,1628958805.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:25.417Z,1628958805.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:25.419Z,1628958805.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:25.845Z,1628958805.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:26.218Z,1628958806.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,0030A,187,80,80,AD,FF
2021-08-14T16:33:26.218Z,1628958806.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:26.658Z,1628958806.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163327.23*5D

2021-08-14T16:33:29.069Z,1628958809.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:29.457Z,1628958809.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:29.457Z,1628958809.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:29.457Z,1628958809.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:29.458Z,1628958809.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:29.857Z,1628958809.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,0030A,187,80,80,AD,FF
2021-08-14T16:33:29.857Z,1628958809.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:29.857Z,1628958809.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:29.859Z,1628958809.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:30.261Z,1628958810.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:30.669Z,1628958810.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E02,000,00312,187,80,80,70,FF
2021-08-14T16:33:30.669Z,1628958810.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:31.105Z,1628958811.105 [Micromodem](INFO): Nmea in: $SNTTA,0.037022,,,,163331.67*40

2021-08-14T16:33:33.548Z,1628958813.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:33.893Z,1628958813.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:33.893Z,1628958813.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:33.893Z,1628958813.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:33.894Z,1628958813.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:34.301Z,1628958814.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E02,000,00312,187,80,80,70,FF
2021-08-14T16:33:34.301Z,1628958814.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:34.301Z,1628958814.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:34.303Z,1628958814.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:34.704Z,1628958814.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:35.101Z,1628958815.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00314,187,80,80,AA,FF
2021-08-14T16:33:35.102Z,1628958815.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:35.561Z,1628958815.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163336.12*5F

2021-08-14T16:33:37.985Z,1628958817.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:38.345Z,1628958818.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:38.345Z,1628958818.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:38.345Z,1628958818.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:38.346Z,1628958818.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:38.750Z,1628958818.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00314,187,80,80,AA,FF
2021-08-14T16:33:38.750Z,1628958818.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:38.750Z,1628958818.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:38.752Z,1628958818.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:39.175Z,1628958819.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:39.549Z,1628958819.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00318,188,80,80,A3,FF
2021-08-14T16:33:39.549Z,1628958819.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:39.998Z,1628958819.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163340.57*5F

2021-08-14T16:33:40.022Z,1628958820.022 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T16:33:42.422Z,1628958822.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:42.785Z,1628958822.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:42.785Z,1628958822.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:42.785Z,1628958822.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:42.786Z,1628958822.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:43.221Z,1628958823.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00318,188,80,80,A3,FF
2021-08-14T16:33:43.221Z,1628958823.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:43.221Z,1628958823.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:43.223Z,1628958823.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:43.592Z,1628958823.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:43.993Z,1628958823.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,0031D,18A,80,80,A8,FF
2021-08-14T16:33:43.993Z,1628958823.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:44.410Z,1628958824.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163345.04*5C

2021-08-14T16:33:46.904Z,1628958826.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:47.249Z,1628958827.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:47.249Z,1628958827.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:47.249Z,1628958827.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:47.250Z,1628958827.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:47.630Z,1628958827.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,0031D,18A,80,80,A8,FF
2021-08-14T16:33:47.630Z,1628958827.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:47.630Z,1628958827.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:47.633Z,1628958827.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:48.044Z,1628958828.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:48.437Z,1628958828.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,00320,189,80,80,AF,FF
2021-08-14T16:33:48.437Z,1628958828.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:48.878Z,1628958828.878 [Micromodem](INFO): Nmea in: $SNTTA,0.027987,,,,163349.45*48

2021-08-14T16:33:51.310Z,1628958831.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:51.685Z,1628958831.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:51.685Z,1628958831.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:51.685Z,1628958831.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:51.686Z,1628958831.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:52.073Z,1628958832.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,00320,189,80,80,AF,FF
2021-08-14T16:33:52.073Z,1628958832.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:52.073Z,1628958832.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:52.075Z,1628958832.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:52.491Z,1628958832.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:52.881Z,1628958832.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4E,000,00325,189,80,80,A6,FF
2021-08-14T16:33:52.882Z,1628958832.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:53.322Z,1628958833.322 [Micromodem](INFO): Nmea in: $SNTTA,0.026339,,,,163353.89*4D

2021-08-14T16:33:55.732Z,1628958835.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:33:56.113Z,1628958836.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:33:56.113Z,1628958836.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:33:56.113Z,1628958836.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:33:56.114Z,1628958836.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:33:56.519Z,1628958836.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4E,000,00325,189,80,80,A6,FF
2021-08-14T16:33:56.522Z,1628958836.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:33:56.523Z,1628958836.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:33:56.539Z,1628958836.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:33:56.937Z,1628958836.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:33:57.329Z,1628958837.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,0032A,18A,80,80,A5,FF
2021-08-14T16:33:57.329Z,1628958837.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:33:57.337Z,1628958837.337 [Micromodem](INFO): Nmea in: $SNTTA,0.033113,0.256454,,,163358.36*56

2021-08-14T16:33:59.766Z,1628958839.766 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:34:00.190Z,1628958840.190 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 11.10 m. Transitioning DDM to standby.
2021-08-14T16:34:00.191Z,1628958840.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:00.561Z,1628958840.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:00.561Z,1628958840.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:00.561Z,1628958840.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:00.562Z,1628958840.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:00.940Z,1628958840.940 [CTD_Seabird](ERROR): Failed to parse device response: 35,4783.66
2021-08-14T16:34:00.977Z,1628958840.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,0032A,18A,80,80,A5,FF
2021-08-14T16:34:00.977Z,1628958840.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:00.978Z,1628958840.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:00.979Z,1628958840.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:01.398Z,1628958841.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:01.781Z,1628958841.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,0032D,189,80,80,AF,FF
2021-08-14T16:34:01.781Z,1628958841.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:02.205Z,1628958842.205 [Micromodem](INFO): Nmea in: $SNTTA,0.057424,,,,163402.80*4A

2021-08-14T16:34:02.655Z,1628958842.655 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-14T16:34:03.021Z,1628958843.021 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T16:34:03.021Z,1628958843.021 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-14T16:34:03.022Z,1628958843.022 [lineCaptureDepth:Lap] Stopped
2021-08-14T16:34:03.023Z,1628958843.023 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T16:34:03.023Z,1628958843.023 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-14T16:34:03.023Z,1628958843.023 [lineCaptureDepth:Lap] Running Loop=2
2021-08-14T16:34:03.023Z,1628958843.023 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T16:34:03.023Z,1628958843.023 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T16:34:03.452Z,1628958843.452 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T16:34:03.452Z,1628958843.452 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T16:34:03.452Z,1628958843.452 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T16:34:03.813Z,1628958843.813 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T16:34:03.814Z,1628958843.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T16:34:03.815Z,1628958843.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T16:34:03.816Z,1628958843.816 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T16:34:03.817Z,1628958843.817 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T16:34:03.818Z,1628958843.818 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T16:34:04.210Z,1628958844.210 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T16:34:04.210Z,1628958844.210 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T16:34:04.601Z,1628958844.601 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T16:34:04.601Z,1628958844.601 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T16:34:04.603Z,1628958844.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:04.985Z,1628958844.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:04.985Z,1628958844.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:04.985Z,1628958844.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:04.986Z,1628958844.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:05.039Z,1628958845.039 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T16:34:05.039Z,1628958845.039 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T16:34:05.394Z,1628958845.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,0032D,189,80,80,AF,FF
2021-08-14T16:34:05.394Z,1628958845.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:05.395Z,1628958845.395 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:05.401Z,1628958845.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:05.597Z,1628958845.597 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T16:34:05.597Z,1628958845.597 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T16:34:05.597Z,1628958845.597 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T16:34:05.597Z,1628958845.597 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T16:34:05.597Z,1628958845.597 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T16:34:05.598Z,1628958845.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T16:34:05.598Z,1628958845.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T16:34:05.598Z,1628958845.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T16:34:05.598Z,1628958845.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T16:34:05.598Z,1628958845.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T16:34:05.598Z,1628958845.598 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T16:34:05.598Z,1628958845.598 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T16:34:05.599Z,1628958845.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T16:34:05.604Z,1628958845.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:34:05.604Z,1628958845.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T16:34:05.604Z,1628958845.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:34:05.605Z,1628958845.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T16:34:05.605Z,1628958845.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T16:34:05.605Z,1628958845.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T16:34:05.605Z,1628958845.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T16:34:05.605Z,1628958845.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T16:34:05.833Z,1628958845.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:05.871Z,1628958845.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T16:34:05.872Z,1628958845.872 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T16:34:05.873Z,1628958845.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:34:05.873Z,1628958845.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T16:34:05.873Z,1628958845.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:34:05.873Z,1628958845.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T16:34:05.873Z,1628958845.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T16:34:05.873Z,1628958845.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T16:34:05.873Z,1628958845.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T16:34:06.195Z,1628958846.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,00330,189,80,80,A2,FF
2021-08-14T16:34:06.195Z,1628958846.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:06.199Z,1628958846.199 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:34:06.725Z,1628958846.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163407.22*59

2021-08-14T16:34:08.714Z,1628958848.714 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T16:34:09.104Z,1628958849.104 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T16:34:09.106Z,1628958849.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:09.453Z,1628958849.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:09.453Z,1628958849.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:09.453Z,1628958849.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:09.454Z,1628958849.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:09.524Z,1628958849.524 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-14T16:34:09.854Z,1628958849.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,00330,189,80,80,A2,FF
2021-08-14T16:34:09.854Z,1628958849.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:09.854Z,1628958849.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:09.857Z,1628958849.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:09.983Z,1628958849.983 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T16:34:10.261Z,1628958850.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:10.678Z,1628958850.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6F,000,00336,189,80,80,71,FF
2021-08-14T16:34:10.679Z,1628958850.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:11.109Z,1628958851.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163411.68*50

2021-08-14T16:34:13.534Z,1628958853.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:13.897Z,1628958853.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:13.897Z,1628958853.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:13.897Z,1628958853.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:13.898Z,1628958853.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:14.297Z,1628958854.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6F,000,00336,189,80,80,71,FF
2021-08-14T16:34:14.297Z,1628958854.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:14.297Z,1628958854.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:14.299Z,1628958854.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:14.708Z,1628958854.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:15.105Z,1628958855.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,00339,189,80,80,A2,FF
2021-08-14T16:34:15.105Z,1628958855.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:15.558Z,1628958855.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163416.12*5A

2021-08-14T16:34:17.967Z,1628958857.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:18.337Z,1628958858.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:18.337Z,1628958858.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:18.337Z,1628958858.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:18.338Z,1628958858.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:18.753Z,1628958858.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,00339,189,80,80,A2,FF
2021-08-14T16:34:18.753Z,1628958858.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:18.753Z,1628958858.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:18.755Z,1628958858.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:19.193Z,1628958859.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:19.549Z,1628958859.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,0033D,189,80,80,95,FF
2021-08-14T16:34:19.550Z,1628958859.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:19.990Z,1628958859.990 [Micromodem](INFO): Nmea in: $SNTTA,0.049267,,,,163420.57*4E

2021-08-14T16:34:22.409Z,1628958862.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:22.787Z,1628958862.787 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:22.789Z,1628958862.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:22.789Z,1628958862.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:22.790Z,1628958862.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:23.232Z,1628958863.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,0033D,189,80,80,95,FF
2021-08-14T16:34:23.233Z,1628958863.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:23.233Z,1628958863.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:23.234Z,1628958863.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:23.606Z,1628958863.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:24.009Z,1628958864.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,0033C,18A,80,80,8E,FF
2021-08-14T16:34:24.010Z,1628958864.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:24.438Z,1628958864.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163425.05*5C

2021-08-14T16:34:26.873Z,1628958866.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:27.249Z,1628958867.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:27.249Z,1628958867.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:27.249Z,1628958867.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:27.250Z,1628958867.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:27.653Z,1628958867.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,0033C,18A,80,80,8E,FF
2021-08-14T16:34:27.653Z,1628958867.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:27.653Z,1628958867.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:27.655Z,1628958867.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:28.057Z,1628958868.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:28.453Z,1628958868.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5E,000,0033E,189,80,80,92,FF
2021-08-14T16:34:28.453Z,1628958868.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:28.897Z,1628958868.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163429.47*56

2021-08-14T16:34:30.112Z,1628958870.112 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 12.30 m. Transitioning DDM to standby.
2021-08-14T16:34:31.321Z,1628958871.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:31.689Z,1628958871.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:31.689Z,1628958871.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:31.689Z,1628958871.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:31.690Z,1628958871.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:32.097Z,1628958872.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5E,000,0033E,189,80,80,92,FF
2021-08-14T16:34:32.097Z,1628958872.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:32.097Z,1628958872.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:32.099Z,1628958872.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:32.529Z,1628958872.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:32.565Z,1628958872.565 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T16:34:32.897Z,1628958872.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,00345,189,80,80,8D,FF
2021-08-14T16:34:32.897Z,1628958872.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:32.960Z,1628958872.960 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T16:34:32.960Z,1628958872.960 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T16:34:32.960Z,1628958872.960 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T16:34:33.305Z,1628958873.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163433.92*55

2021-08-14T16:34:33.354Z,1628958873.354 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T16:34:33.354Z,1628958873.354 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T16:34:33.354Z,1628958873.354 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T16:34:33.738Z,1628958873.738 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T16:34:33.738Z,1628958873.738 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T16:34:33.738Z,1628958873.738 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T16:34:33.738Z,1628958873.738 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T16:34:33.738Z,1628958873.738 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T16:34:34.130Z,1628958874.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T16:34:34.130Z,1628958874.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:34:34.130Z,1628958874.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T16:34:34.130Z,1628958874.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:34:34.130Z,1628958874.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T16:34:34.131Z,1628958874.131 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T16:34:34.131Z,1628958874.131 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T16:34:34.131Z,1628958874.131 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T16:34:34.131Z,1628958874.131 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T16:34:34.132Z,1628958874.132 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T16:34:34.132Z,1628958874.132 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T16:34:34.133Z,1628958874.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T16:34:34.133Z,1628958874.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 12.719999 m 
2021-08-14T16:34:34.133Z,1628958874.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T16:34:34.133Z,1628958874.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T16:34:34.134Z,1628958874.134 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T16:34:34.134Z,1628958874.134 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T16:34:34.134Z,1628958874.134 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T16:34:34.135Z,1628958874.135 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T16:34:34.527Z,1628958874.527 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T16:34:34.528Z,1628958874.528 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T16:34:34.528Z,1628958874.528 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T16:34:34.528Z,1628958874.528 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T16:34:34.528Z,1628958874.528 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T16:34:34.528Z,1628958874.528 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:34:34.528Z,1628958874.528 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T16:34:34.528Z,1628958874.528 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T16:34:34.529Z,1628958874.529 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T16:34:34.529Z,1628958874.529 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T16:34:34.529Z,1628958874.529 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T16:34:34.929Z,1628958874.929 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T16:34:34.929Z,1628958874.929 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T16:34:34.929Z,1628958874.929 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:34:34.929Z,1628958874.929 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:34:34.930Z,1628958874.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:34:34.930Z,1628958874.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:34:34.930Z,1628958874.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:34:34.930Z,1628958874.930 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:34:34.931Z,1628958874.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T16:34:34.931Z,1628958874.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:34:34.931Z,1628958874.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T16:34:34.931Z,1628958874.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:34:34.932Z,1628958874.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T16:34:34.932Z,1628958874.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T16:34:34.932Z,1628958874.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T16:34:34.932Z,1628958874.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T16:34:34.932Z,1628958874.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T16:34:34.933Z,1628958874.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T16:34:34.934Z,1628958874.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T16:34:34.934Z,1628958874.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T16:34:34.934Z,1628958874.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T16:34:34.934Z,1628958874.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T16:34:34.934Z,1628958874.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T16:34:34.935Z,1628958874.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-14T16:34:34.935Z,1628958874.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:34:34.935Z,1628958874.935 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T16:34:34.936Z,1628958874.936 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T16:34:35.341Z,1628958875.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:34:35.341Z,1628958875.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:34:35.342Z,1628958875.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:34:35.342Z,1628958875.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:34:35.344Z,1628958875.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 312.367336 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:34:35.345Z,1628958875.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.72 m.
2021-08-14T16:34:35.346Z,1628958875.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 312.367336deg and heading rate command to 0 deg/s.
2021-08-14T16:34:35.714Z,1628958875.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:36.205Z,1628958876.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:36.205Z,1628958876.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:36.205Z,1628958876.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:36.206Z,1628958876.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:36.570Z,1628958876.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,00345,189,80,80,8D,FF
2021-08-14T16:34:36.571Z,1628958876.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:36.573Z,1628958876.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:36.600Z,1628958876.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:36.965Z,1628958876.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:37.369Z,1628958877.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,00347,18A,80,80,7D,FF
2021-08-14T16:34:37.369Z,1628958877.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:37.431Z,1628958877.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:34:37.795Z,1628958877.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163438.42*53

2021-08-14T16:34:37.839Z,1628958877.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 310.505645 deg, deltaT: 4.468659 s, approachRate: 0.026854 m/s, LOS rate: -0.416611 deg/s, posRepo size: 2
2021-08-14T16:34:37.845Z,1628958877.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.84 m.
2021-08-14T16:34:37.868Z,1628958877.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 310.505645 deg,
      approachRate: 0.026854 m/s,
      LOS rate: -0.416611 deg/s,
      cmd update: -1.249832 deg/s,
      cmd heading: 312.367336 deg,
      new cmd heading: 312.367336 deg.

2021-08-14T16:34:40.221Z,1628958880.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:40.577Z,1628958880.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:40.577Z,1628958880.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:40.577Z,1628958880.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:40.578Z,1628958880.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:40.986Z,1628958880.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,00347,18A,80,80,7D,FF
2021-08-14T16:34:40.986Z,1628958880.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:40.986Z,1628958880.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:40.988Z,1628958880.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:41.417Z,1628958881.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:41.913Z,1628958881.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D79,000,00343,189,80,80,A7,FF
2021-08-14T16:34:41.913Z,1628958881.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:41.947Z,1628958881.947 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:34:42.254Z,1628958882.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163442.80*50

2021-08-14T16:34:42.290Z,1628958882.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 312.554784 deg, deltaT: 4.518586 s, approachRate: -0.053114 m/s, LOS rate: 0.453491 deg/s, posRepo size: 3
2021-08-14T16:34:42.290Z,1628958882.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.60 m.
2021-08-14T16:34:42.293Z,1628958882.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 312.554784 deg,
      approachRate: -0.053114 m/s,
      LOS rate: 0.453491 deg/s,
      cmd update: 1.360473 deg/s,
      cmd heading: 306.721813 deg,
      new cmd heading: 306.289383 deg.

2021-08-14T16:34:44.703Z,1628958884.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:45.065Z,1628958885.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:45.065Z,1628958885.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:45.065Z,1628958885.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:45.066Z,1628958885.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:45.509Z,1628958885.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D79,000,00343,189,80,80,A7,FF
2021-08-14T16:34:45.509Z,1628958885.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:45.509Z,1628958885.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:45.511Z,1628958885.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:45.912Z,1628958885.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:46.309Z,1628958886.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0C,000,00333,187,80,80,94,FF
2021-08-14T16:34:46.309Z,1628958886.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:46.330Z,1628958886.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:34:46.757Z,1628958886.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163447.33*5D

2021-08-14T16:34:46.778Z,1628958886.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 312.773131 deg, deltaT: 4.380435 s, approachRate: -0.219155 m/s, LOS rate: 0.049846 deg/s, posRepo size: 4
2021-08-14T16:34:46.778Z,1628958886.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.64 m.
2021-08-14T16:34:46.784Z,1628958886.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 312.773131 deg,
      approachRate: -0.219155 m/s,
      LOS rate: 0.049846 deg/s,
      cmd update: 0.149538 deg/s,
      cmd heading: 312.683979 deg,
      new cmd heading: 313.298155 deg.

2021-08-14T16:34:49.289Z,1628958889.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:49.553Z,1628958889.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:49.554Z,1628958889.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:49.554Z,1628958889.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:49.555Z,1628958889.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:49.957Z,1628958889.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0C,000,00333,187,80,80,94,FF
2021-08-14T16:34:49.957Z,1628958889.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:49.958Z,1628958889.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:49.959Z,1628958889.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:50.361Z,1628958890.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:50.771Z,1628958890.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E31,000,0031D,186,80,80,A3,FF
2021-08-14T16:34:50.771Z,1628958890.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:50.839Z,1628958890.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:34:51.249Z,1628958891.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163451.78*55

2021-08-14T16:34:51.309Z,1628958891.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 322.725209 deg, deltaT: 4.509010 s, approachRate: -0.292748 m/s, LOS rate: 2.207154 deg/s, posRepo size: 4
2021-08-14T16:34:51.309Z,1628958891.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 10.32 m.
2021-08-14T16:34:51.310Z,1628958891.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 10.32 m.
2021-08-14T16:34:51.310Z,1628958891.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:34:51.328Z,1628958891.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 322.725209 deg,
      approachRate: -0.292748 m/s,
      LOS rate: 2.207154 deg/s,
      cmd update: 6.621461 deg/s,
      cmd heading: 313.357409 deg,
      new cmd heading: 313.428997 deg.

2021-08-14T16:34:53.652Z,1628958893.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:54.001Z,1628958894.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:54.001Z,1628958894.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:54.001Z,1628958894.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:54.002Z,1628958894.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:54.416Z,1628958894.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E31,000,0031D,186,80,80,A3,FF
2021-08-14T16:34:54.416Z,1628958894.416 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:54.417Z,1628958894.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:54.418Z,1628958894.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:54.828Z,1628958894.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:55.245Z,1628958895.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00301,187,80,80,64,FF
2021-08-14T16:34:55.245Z,1628958895.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:55.327Z,1628958895.327 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:34:55.681Z,1628958895.681 [Micromodem](INFO): Nmea in: $SNTTA,0.023421,,,,163456.24*43

2021-08-14T16:34:55.839Z,1628958895.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 326.963451 deg, deltaT: 4.488387 s, approachRate: -0.374299 m/s, LOS rate: 0.944268 deg/s, posRepo size: 4
2021-08-14T16:34:55.849Z,1628958895.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 326.963451 deg,
      approachRate: -0.374299 m/s,
      LOS rate: 0.944268 deg/s,
      cmd update: 2.832805 deg/s,
      cmd heading: 343.088769 deg,
      new cmd heading: 346.475614 deg.

2021-08-14T16:34:58.109Z,1628958898.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:34:58.493Z,1628958898.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:34:58.493Z,1628958898.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:34:58.493Z,1628958898.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:34:58.494Z,1628958898.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:34:58.889Z,1628958898.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,00301,187,80,80,64,FF
2021-08-14T16:34:58.889Z,1628958898.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:34:58.889Z,1628958898.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:34:58.891Z,1628958898.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:34:59.293Z,1628958899.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:34:59.697Z,1628958899.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,002E8,186,80,80,53,FF
2021-08-14T16:34:59.697Z,1628958899.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:34:59.749Z,1628958899.749 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:00.129Z,1628958900.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163500.71*59

2021-08-14T16:35:00.176Z,1628958900.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 340.334912 deg, deltaT: 4.422123 s, approachRate: -0.339204 m/s, LOS rate: 3.023765 deg/s, posRepo size: 4
2021-08-14T16:35:00.178Z,1628958900.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 340.334912 deg,
      approachRate: -0.339204 m/s,
      LOS rate: 3.023765 deg/s,
      cmd update: 9.071295 deg/s,
      cmd heading: 355.538239 deg,
      new cmd heading: 356.832822 deg.

2021-08-14T16:35:02.548Z,1628958902.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:02.933Z,1628958902.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:02.933Z,1628958902.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:02.934Z,1628958902.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:02.935Z,1628958902.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:03.329Z,1628958903.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,002E8,186,80,80,53,FF
2021-08-14T16:35:03.329Z,1628958903.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:03.329Z,1628958903.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:03.331Z,1628958903.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:03.737Z,1628958903.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:04.137Z,1628958904.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,002DC,187,80,80,86,FF
2021-08-14T16:35:04.137Z,1628958904.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:04.168Z,1628958904.168 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:04.569Z,1628958904.569 [Micromodem](INFO): Nmea in: $SNTTA,0.021136,,,,163505.15*47

2021-08-14T16:35:04.634Z,1628958904.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.419999 m, bearing: 325.711832 deg, deltaT: 4.419047 s, approachRate: -0.162931 m/s, LOS rate: -3.309103 deg/s, posRepo size: 4
2021-08-14T16:35:04.641Z,1628958904.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 325.711832 deg,
      approachRate: -0.162931 m/s,
      LOS rate: -3.309103 deg/s,
      cmd update: -9.927308 deg/s,
      cmd heading: 35.907164 deg,
      new cmd heading: 40.114639 deg.

2021-08-14T16:35:06.994Z,1628958906.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:07.369Z,1628958907.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:07.369Z,1628958907.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:07.369Z,1628958907.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:07.370Z,1628958907.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:07.777Z,1628958907.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,002DC,187,80,80,86,FF
2021-08-14T16:35:07.777Z,1628958907.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:07.777Z,1628958907.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:07.779Z,1628958907.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:08.189Z,1628958908.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:08.581Z,1628958908.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,002D9,186,80,80,91,FF
2021-08-14T16:35:08.582Z,1628958908.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:08.655Z,1628958908.655 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:09.025Z,1628958909.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163509.60*50

2021-08-14T16:35:09.054Z,1628958909.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 23.731117 deg, deltaT: 4.491419 s, approachRate: -0.040076 m/s, LOS rate: 12.917805 deg/s, posRepo size: 4
2021-08-14T16:35:09.055Z,1628958909.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.917805 deg/s. Setting heading cmd to target bearing of 23.731117deg and heading rate command to 0 deg/s.
2021-08-14T16:35:11.476Z,1628958911.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:11.837Z,1628958911.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:11.837Z,1628958911.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:11.837Z,1628958911.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:11.838Z,1628958911.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:12.226Z,1628958912.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,002D9,186,80,80,91,FF
2021-08-14T16:35:12.226Z,1628958912.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:12.226Z,1628958912.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:12.228Z,1628958912.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:12.631Z,1628958912.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:13.029Z,1628958913.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,00306,186,80,80,A2,FF
2021-08-14T16:35:13.029Z,1628958913.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:13.090Z,1628958913.090 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:13.473Z,1628958913.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163514.05*5F

2021-08-14T16:35:13.515Z,1628958913.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 32.214147 deg, deltaT: 4.430847 s, approachRate: 0.609364 m/s, LOS rate: 1.914539 deg/s, posRepo size: 4
2021-08-14T16:35:13.517Z,1628958913.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 32.214147 deg,
      approachRate: 0.609364 m/s,
      LOS rate: 1.914539 deg/s,
      cmd update: 5.743617 deg/s,
      cmd heading: 23.731117 deg,
      new cmd heading: 23.731117 deg.

2021-08-14T16:35:15.910Z,1628958915.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:16.277Z,1628958916.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:16.277Z,1628958916.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:16.277Z,1628958916.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:16.278Z,1628958916.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:16.681Z,1628958916.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,00306,186,80,80,A2,FF
2021-08-14T16:35:16.681Z,1628958916.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:16.681Z,1628958916.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:16.683Z,1628958916.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:17.074Z,1628958917.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:17.482Z,1628958917.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,00303,187,80,80,A5,FF
2021-08-14T16:35:17.482Z,1628958917.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:17.522Z,1628958917.522 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:17.902Z,1628958917.902 [Micromodem](INFO): Nmea in: $SNTTA,0.058120,,,,163518.50*43

2021-08-14T16:35:17.929Z,1628958917.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.759999 m, bearing: 36.958451 deg, deltaT: 4.431349 s, approachRate: -0.040620 m/s, LOS rate: 1.070623 deg/s, posRepo size: 4
2021-08-14T16:35:17.931Z,1628958917.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.759999 m,
      bearing: 36.958451 deg,
      approachRate: -0.040620 m/s,
      LOS rate: 1.070623 deg/s,
      cmd update: 3.211869 deg/s,
      cmd heading: 49.206220 deg,
      new cmd heading: 51.559507 deg.

2021-08-14T16:35:20.343Z,1628958920.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:20.717Z,1628958920.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:20.717Z,1628958920.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:20.717Z,1628958920.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:20.718Z,1628958920.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:21.109Z,1628958921.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,00303,187,80,80,A5,FF
2021-08-14T16:35:21.109Z,1628958921.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:21.109Z,1628958921.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:21.111Z,1628958921.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:21.529Z,1628958921.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:21.925Z,1628958921.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC5,000,00323,188,80,80,78,FF
2021-08-14T16:35:21.926Z,1628958921.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:21.976Z,1628958921.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:22.382Z,1628958922.382 [Micromodem](INFO): Nmea in: $SNTTA,0.026949,,,,163522.93*4B

2021-08-14T16:35:22.411Z,1628958922.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 77.175578 deg, deltaT: 4.454574 s, approachRate: 0.431018 m/s, LOS rate: 9.028277 deg/s, posRepo size: 4
2021-08-14T16:35:22.413Z,1628958922.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 77.175578 deg,
      approachRate: 0.431018 m/s,
      LOS rate: 9.028277 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 63.446625 deg,
      new cmd heading: 64.918969 deg.

2021-08-14T16:35:23.973Z,1628958923.973 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T16:35:24.821Z,1628958924.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:25.164Z,1628958925.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:25.164Z,1628958925.164 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:25.165Z,1628958925.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:25.166Z,1628958925.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:25.569Z,1628958925.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC5,000,00323,188,80,80,78,FF
2021-08-14T16:35:25.569Z,1628958925.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:25.569Z,1628958925.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:25.571Z,1628958925.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:25.964Z,1628958925.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:26.366Z,1628958926.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00359,187,80,80,67,FF
2021-08-14T16:35:26.367Z,1628958926.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:26.390Z,1628958926.390 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:26.809Z,1628958926.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163527.39*50

2021-08-14T16:35:26.855Z,1628958926.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 77.793648 deg, deltaT: 4.413236 s, approachRate: 0.734154 m/s, LOS rate: 0.140049 deg/s, posRepo size: 4
2021-08-14T16:35:26.858Z,1628958926.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 77.793648 deg,
      approachRate: 0.734154 m/s,
      LOS rate: 0.140049 deg/s,
      cmd update: 0.420148 deg/s,
      cmd heading: 116.657447 deg,
      new cmd heading: 122.284032 deg.

2021-08-14T16:35:29.269Z,1628958929.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:29.600Z,1628958929.600 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:29.601Z,1628958929.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:29.601Z,1628958929.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:29.602Z,1628958929.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:30.004Z,1628958930.004 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00359,187,80,80,67,FF
2021-08-14T16:35:30.005Z,1628958930.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:30.005Z,1628958930.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:30.007Z,1628958930.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:30.407Z,1628958930.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:30.818Z,1628958930.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,0038A,18A,80,80,34,FF
2021-08-14T16:35:30.818Z,1628958930.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:30.879Z,1628958930.879 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:31.266Z,1628958931.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163531.82*57

2021-08-14T16:35:31.333Z,1628958931.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 111.281349 deg, deltaT: 4.489430 s, approachRate: 0.654872 m/s, LOS rate: 7.459233 deg/s, posRepo size: 4
2021-08-14T16:35:31.335Z,1628958931.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 111.281349 deg,
      approachRate: 0.654872 m/s,
      LOS rate: 7.459233 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 118.541992 deg,
      new cmd heading: 118.725476 deg.

2021-08-14T16:35:33.692Z,1628958933.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:34.033Z,1628958934.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:34.033Z,1628958934.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:34.033Z,1628958934.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:34.034Z,1628958934.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:34.450Z,1628958934.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,0038A,18A,80,80,34,FF
2021-08-14T16:35:34.450Z,1628958934.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:34.451Z,1628958934.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:34.454Z,1628958934.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:34.875Z,1628958934.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:35.258Z,1628958935.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00383,187,80,80,A2,FF
2021-08-14T16:35:35.258Z,1628958935.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:35.361Z,1628958935.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:35.698Z,1628958935.698 [Micromodem](INFO): Nmea in: $SNTTA,0.010611,,,,163536.27*46

2021-08-14T16:35:35.719Z,1628958935.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 114.646433 deg, deltaT: 4.482442 s, approachRate: -0.093699 m/s, LOS rate: 0.750726 deg/s, posRepo size: 4
2021-08-14T16:35:35.722Z,1628958935.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.439999 m,
      bearing: 114.646433 deg,
      approachRate: -0.093699 m/s,
      LOS rate: 0.750726 deg/s,
      cmd update: 2.252177 deg/s,
      cmd heading: 172.285062 deg,
      new cmd heading: 176.711130 deg.

2021-08-14T16:35:37.686Z,1628958937.686 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:35:38.109Z,1628958938.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:38.477Z,1628958938.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:38.477Z,1628958938.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:38.477Z,1628958938.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:38.478Z,1628958938.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:38.881Z,1628958938.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00383,187,80,80,A2,FF
2021-08-14T16:35:38.881Z,1628958938.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:38.881Z,1628958938.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:38.883Z,1628958938.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:39.360Z,1628958939.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:39.733Z,1628958939.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00399,187,80,80,8D,FF
2021-08-14T16:35:39.733Z,1628958939.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:39.805Z,1628958939.805 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:40.159Z,1628958940.159 [Micromodem](INFO): Nmea in: $SNTTA,0.029741,,,,163540.70*4B

2021-08-14T16:35:40.209Z,1628958940.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 130.106402 deg, deltaT: 4.443643 s, approachRate: 0.297053 m/s, LOS rate: 3.479120 deg/s, posRepo size: 4
2021-08-14T16:35:40.211Z,1628958940.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 130.106402 deg,
      approachRate: 0.297053 m/s,
      LOS rate: 3.479120 deg/s,
      cmd update: 10.437361 deg/s,
      cmd heading: 182.239262 deg,
      new cmd heading: 183.228166 deg.

2021-08-14T16:35:42.623Z,1628958942.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:42.965Z,1628958942.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:42.965Z,1628958942.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:42.965Z,1628958942.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:42.966Z,1628958942.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:43.376Z,1628958943.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00399,187,80,80,8D,FF
2021-08-14T16:35:43.376Z,1628958943.376 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:43.377Z,1628958943.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:43.381Z,1628958943.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:43.800Z,1628958943.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:44.194Z,1628958944.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,003A9,187,80,80,9D,FF
2021-08-14T16:35:44.195Z,1628958944.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:44.227Z,1628958944.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:44.622Z,1628958944.622 [Micromodem](INFO): Nmea in: $SNTTA,0.030681,,,,163545.20*4E

2021-08-14T16:35:44.664Z,1628958944.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 146.276533 deg, deltaT: 4.421970 s, approachRate: 0.217098 m/s, LOS rate: 3.656771 deg/s, posRepo size: 4
2021-08-14T16:35:44.666Z,1628958944.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 146.276533 deg,
      approachRate: 0.217098 m/s,
      LOS rate: 3.656771 deg/s,
      cmd update: 10.970313 deg/s,
      cmd heading: 228.690475 deg,
      new cmd heading: 233.146914 deg.

2021-08-14T16:35:45.838Z,1628958945.838 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:35:47.143Z,1628958947.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:47.429Z,1628958947.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:47.430Z,1628958947.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:47.430Z,1628958947.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:47.431Z,1628958947.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:47.857Z,1628958947.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,003A9,187,80,80,9D,FF
2021-08-14T16:35:47.857Z,1628958947.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:47.857Z,1628958947.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:47.859Z,1628958947.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:48.224Z,1628958948.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:49.034Z,1628958949.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163549.68*5C

2021-08-14T16:35:49.928Z,1628958949.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:51.449Z,1628958951.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,9D,FF
2021-08-14T16:35:51.450Z,1628958951.450 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,9D,FF
2021-08-14T16:35:51.450Z,1628958951.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:35:52.711Z,1628958952.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:53.128Z,1628958953.128 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:53.128Z,1628958953.128 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:53.128Z,1628958953.128 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:53.129Z,1628958953.129 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:53.478Z,1628958953.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,9D,FF
2021-08-14T16:35:53.478Z,1628958953.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:53.478Z,1628958953.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:53.479Z,1628958953.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:53.880Z,1628958953.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:54.289Z,1628958954.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,003C1,189,80,80,22,FF
2021-08-14T16:35:54.289Z,1628958954.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:54.310Z,1628958954.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:54.721Z,1628958954.721 [Micromodem](INFO): Nmea in: $SNTTA,0.029809,,,,163555.30*48

2021-08-14T16:35:54.778Z,1628958954.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 202.621441 deg, deltaT: 10.082425 s, approachRate: 0.142823 m/s, LOS rate: 5.588428 deg/s, posRepo size: 4
2021-08-14T16:35:54.817Z,1628958954.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 202.621441 deg,
      approachRate: 0.142823 m/s,
      LOS rate: 5.588428 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 339.332886 deg,
      new cmd heading: 344.450154 deg.

2021-08-14T16:35:57.214Z,1628958957.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:35:57.517Z,1628958957.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:35:57.517Z,1628958957.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:35:57.517Z,1628958957.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:35:57.518Z,1628958957.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:35:57.917Z,1628958957.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,003C1,189,80,80,22,FF
2021-08-14T16:35:57.917Z,1628958957.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:35:57.917Z,1628958957.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:35:57.919Z,1628958957.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:35:58.332Z,1628958958.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:35:58.733Z,1628958958.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D11,000,003B5,188,80,80,B3,FF
2021-08-14T16:35:58.734Z,1628958958.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:35:58.754Z,1628958958.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:35:59.206Z,1628958959.206 [Micromodem](INFO): Nmea in: $SNTTA,0.028600,,,,163559.74*42

2021-08-14T16:35:59.255Z,1628958959.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 209.889514 deg, deltaT: 4.445496 s, approachRate: -0.161962 m/s, LOS rate: 1.634929 deg/s, posRepo size: 4
2021-08-14T16:35:59.277Z,1628958959.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.440001 m,
      bearing: 209.889514 deg,
      approachRate: -0.161962 m/s,
      LOS rate: 1.634929 deg/s,
      cmd update: 4.904788 deg/s,
      cmd heading: 32.664440 deg,
      new cmd heading: 38.713124 deg.

2021-08-14T16:36:01.298Z,1628958961.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:01.557Z,1628958961.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:01.557Z,1628958961.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:01.557Z,1628958961.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:01.558Z,1628958961.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:01.957Z,1628958961.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D11,000,003B5,188,80,80,B3,FF
2021-08-14T16:36:01.957Z,1628958961.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:01.957Z,1628958961.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:01.959Z,1628958961.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:02.364Z,1628958962.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:02.765Z,1628958962.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,003B7,188,80,80,81,FF
2021-08-14T16:36:02.766Z,1628958962.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:02.837Z,1628958962.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:36:03.222Z,1628958963.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163603.78*50

2021-08-14T16:36:03.297Z,1628958963.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 188.620045 deg, deltaT: 4.081603 s, approachRate: 0.029400 m/s, LOS rate: -5.211058 deg/s, posRepo size: 4
2021-08-14T16:36:03.299Z,1628958963.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 188.620045 deg,
      approachRate: 0.029400 m/s,
      LOS rate: -5.211058 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 52.645993 deg,
      new cmd heading: 54.943087 deg.

2021-08-14T16:36:05.654Z,1628958965.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:05.997Z,1628958965.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:05.997Z,1628958965.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:05.997Z,1628958965.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:05.998Z,1628958965.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:06.405Z,1628958966.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,003B7,188,80,80,81,FF
2021-08-14T16:36:06.405Z,1628958966.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:06.405Z,1628958966.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:06.407Z,1628958966.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:06.836Z,1628958966.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:07.245Z,1628958967.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD1,000,003C9,189,80,80,54,FF
2021-08-14T16:36:07.245Z,1628958967.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:07.284Z,1628958967.284 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:36:07.637Z,1628958967.637 [Micromodem](INFO): Nmea in: $SNTTA,0.027289,,,,163608.27*49

2021-08-14T16:36:07.670Z,1628958967.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 188.412421 deg, deltaT: 4.447835 s, approachRate: 0.242814 m/s, LOS rate: -0.046680 deg/s, posRepo size: 4
2021-08-14T16:36:07.673Z,1628958967.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 188.412421 deg,
      approachRate: 0.242814 m/s,
      LOS rate: -0.046680 deg/s,
      cmd update: -0.140039 deg/s,
      cmd heading: 359.164667 deg,
      new cmd heading: 354.496391 deg.

2021-08-14T16:36:10.093Z,1628958970.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:10.446Z,1628958970.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:10.446Z,1628958970.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:10.446Z,1628958970.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:10.447Z,1628958970.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:10.861Z,1628958970.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD1,000,003C9,189,80,80,54,FF
2021-08-14T16:36:10.861Z,1628958970.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:10.861Z,1628958970.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:10.863Z,1628958970.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:11.264Z,1628958971.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:11.689Z,1628958971.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,003EC,186,80,80,35,FF
2021-08-14T16:36:11.690Z,1628958971.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:11.709Z,1628958971.709 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:36:12.098Z,1628958972.098 [Micromodem](INFO): Nmea in: $SNTTA,0.046359,,,,163612.68*42

2021-08-14T16:36:12.124Z,1628958972.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 150.747206 deg, deltaT: 4.424955 s, approachRate: 0.474582 m/s, LOS rate: -8.511999 deg/s, posRepo size: 4
2021-08-14T16:36:12.126Z,1628958972.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.740000 m,
      bearing: 150.747206 deg,
      approachRate: 0.474582 m/s,
      LOS rate: -8.511999 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 358.545027 deg,
      new cmd heading: 358.486520 deg.

2021-08-14T16:36:14.521Z,1628958974.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:14.889Z,1628958974.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:14.889Z,1628958974.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:14.889Z,1628958974.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:14.890Z,1628958974.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:15.297Z,1628958975.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,003EC,186,80,80,35,FF
2021-08-14T16:36:15.297Z,1628958975.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:15.297Z,1628958975.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:15.299Z,1628958975.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:15.719Z,1628958975.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:16.113Z,1628958976.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,00411,189,80,80,42,FF
2021-08-14T16:36:16.113Z,1628958976.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:16.184Z,1628958976.184 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:36:16.565Z,1628958976.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163617.12*59

2021-08-14T16:36:16.588Z,1628958976.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 89.950429 deg, deltaT: 4.474982 s, approachRate: 0.496091 m/s, LOS rate: -13.585927 deg/s, posRepo size: 4
2021-08-14T16:36:16.605Z,1628958976.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.585927 deg/s. Setting heading cmd to target bearing of 89.950429deg and heading rate command to 0 deg/s.
2021-08-14T16:36:18.967Z,1628958978.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:19.349Z,1628958979.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:19.349Z,1628958979.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:19.349Z,1628958979.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:19.350Z,1628958979.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:19.753Z,1628958979.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,00411,189,80,80,42,FF
2021-08-14T16:36:19.753Z,1628958979.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:19.753Z,1628958979.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:19.755Z,1628958979.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:20.157Z,1628958980.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:20.990Z,1628958980.990 [Micromodem](INFO): Nmea in: $SNTTA,0.077107,,,,163621.57*45

2021-08-14T16:36:21.836Z,1628958981.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:23.385Z,1628958983.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,42,FF
2021-08-14T16:36:23.385Z,1628958983.385 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,42,FF
2021-08-14T16:36:23.385Z,1628958983.385 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:36:24.650Z,1628958984.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:25.001Z,1628958985.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:25.001Z,1628958985.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:25.001Z,1628958985.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:25.002Z,1628958985.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:25.405Z,1628958985.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,42,FF
2021-08-14T16:36:25.405Z,1628958985.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:25.405Z,1628958985.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:25.407Z,1628958985.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:25.829Z,1628958985.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:26.213Z,1628958986.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00481,187,80,80,59,FF
2021-08-14T16:36:26.214Z,1628958986.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:26.234Z,1628958986.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:36:26.659Z,1628958986.659 [Micromodem](INFO): Nmea in: $SNTTA,0.036745,,,,163627.23*45

2021-08-14T16:36:26.707Z,1628958986.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 106.751069 deg, deltaT: 10.049207 s, approachRate: 0.668710 m/s, LOS rate: 1.671837 deg/s, posRepo size: 4
2021-08-14T16:36:26.707Z,1628958986.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 31.68 m. Rolling out.
2021-08-14T16:36:26.712Z,1628958986.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T16:36:29.093Z,1628958989.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:29.445Z,1628958989.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:29.445Z,1628958989.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:29.445Z,1628958989.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:29.446Z,1628958989.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:29.861Z,1628958989.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00481,187,80,80,59,FF
2021-08-14T16:36:29.861Z,1628958989.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:29.862Z,1628958989.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:29.863Z,1628958989.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:30.257Z,1628958990.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:31.079Z,1628958991.079 [Micromodem](INFO): Nmea in: $SNTTA,0.089061,,,,163631.68*48

2021-08-14T16:36:31.917Z,1628958991.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:33.489Z,1628958993.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,59,FF
2021-08-14T16:36:33.490Z,1628958993.490 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,59,FF
2021-08-14T16:36:33.490Z,1628958993.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:36:34.719Z,1628958994.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:35.101Z,1628958995.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:35.101Z,1628958995.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:35.101Z,1628958995.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:35.102Z,1628958995.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:35.505Z,1628958995.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,59,FF
2021-08-14T16:36:35.505Z,1628958995.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:35.505Z,1628958995.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:35.507Z,1628958995.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:35.917Z,1628958995.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:36.754Z,1628958996.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163637.33*58

2021-08-14T16:36:37.227Z,1628958997.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:39.156Z,1628958999.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,59,FF
2021-08-14T16:36:39.157Z,1628958999.157 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,59,FF
2021-08-14T16:36:39.158Z,1628958999.158 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:36:39.967Z,1628958999.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:40.354Z,1628959000.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:40.354Z,1628959000.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:40.354Z,1628959000.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:40.355Z,1628959000.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:40.753Z,1628959000.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,59,FF
2021-08-14T16:36:40.753Z,1628959000.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:40.754Z,1628959000.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:40.775Z,1628959000.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:41.176Z,1628959001.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:41.585Z,1628959001.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,0051F,186,80,80,40,FF
2021-08-14T16:36:41.586Z,1628959001.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:41.679Z,1628959001.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:36:41.997Z,1628959001.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163642.59*56

2021-08-14T16:36:42.023Z,1628959002.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 80.120530 deg, deltaT: 15.445128 s, approachRate: 0.613786 m/s, LOS rate: -1.724203 deg/s, posRepo size: 4
2021-08-14T16:36:42.406Z,1628959002.406 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:36:42.407Z,1628959002.407 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:36:42.407Z,1628959002.407 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:36:42.407Z,1628959002.407 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:36:42.408Z,1628959002.408 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:36:42.408Z,1628959002.408 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:36:42.801Z,1628959002.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:36:42.801Z,1628959002.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:36:42.801Z,1628959002.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:36:42.802Z,1628959002.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:36:44.414Z,1628959004.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:44.797Z,1628959004.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:44.798Z,1628959004.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:44.798Z,1628959004.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:44.799Z,1628959004.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:45.237Z,1628959005.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,0051F,186,80,80,40,FF
2021-08-14T16:36:45.237Z,1628959005.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:45.237Z,1628959005.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:45.239Z,1628959005.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:45.607Z,1628959005.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:46.009Z,1628959006.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00551,184,80,80,B2,FF
2021-08-14T16:36:46.009Z,1628959006.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:46.435Z,1628959006.435 [Micromodem](INFO): Nmea in: $SNTTA,0.039527,,,,163647.06*4D

2021-08-14T16:36:46.467Z,1628959006.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 101.152677 deg, deltaT: 4.350663 s, approachRate: 0.689551 m/s, LOS rate: 4.834239 deg/s, posRepo size: 4
2021-08-14T16:36:48.881Z,1628959008.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:49.249Z,1628959009.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:49.249Z,1628959009.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:49.249Z,1628959009.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:49.250Z,1628959009.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:49.652Z,1628959009.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00551,184,80,80,B2,FF
2021-08-14T16:36:49.652Z,1628959009.652 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:49.652Z,1628959009.652 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:49.654Z,1628959009.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:50.056Z,1628959010.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:50.449Z,1628959010.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00584,183,80,80,9C,FF
2021-08-14T16:36:50.449Z,1628959010.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:50.901Z,1628959010.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163651.47*5B

2021-08-14T16:36:50.927Z,1628959010.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 97.195095 deg, deltaT: 4.475722 s, approachRate: 0.683688 m/s, LOS rate: -0.884233 deg/s, posRepo size: 4
2021-08-14T16:36:53.353Z,1628959013.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:53.691Z,1628959013.691 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:53.691Z,1628959013.691 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:53.712Z,1628959013.712 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:53.713Z,1628959013.713 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:54.095Z,1628959014.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00584,183,80,80,9C,FF
2021-08-14T16:36:54.095Z,1628959014.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:54.095Z,1628959014.095 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:54.097Z,1628959014.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:54.497Z,1628959014.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:54.905Z,1628959014.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,005B9,183,80,80,5D,FF
2021-08-14T16:36:54.906Z,1628959014.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:36:55.337Z,1628959015.337 [Micromodem](INFO): Nmea in: $SNTTA,0.043256,,,,163655.92*4F

2021-08-14T16:36:55.384Z,1628959015.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.400005 m, bearing: 96.936743 deg, deltaT: 4.459140 s, approachRate: 0.713144 m/s, LOS rate: -0.057938 deg/s, posRepo size: 4
2021-08-14T16:36:57.750Z,1628959017.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:36:58.141Z,1628959018.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:36:58.141Z,1628959018.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:36:58.141Z,1628959018.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:36:58.142Z,1628959018.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:36:58.537Z,1628959018.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,005B9,183,80,80,5D,FF
2021-08-14T16:36:58.537Z,1628959018.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:36:58.537Z,1628959018.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:36:58.539Z,1628959018.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:36:58.949Z,1628959018.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:36:59.789Z,1628959019.789 [Micromodem](INFO): Nmea in: $SNTTA,,0.214617,,,163700.36*41

2021-08-14T16:37:00.572Z,1628959020.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:01.769Z,1628959021.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,07DF0,183,80,80,7E,FF
2021-08-14T16:37:01.769Z,1628959021.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:02.223Z,1628959022.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1896.900024 m, bearing: 96.045212 deg, deltaT: 6.879394 s, approachRate: 268.410278 m/s, LOS rate: -0.129594 deg/s, posRepo size: 4
2021-08-14T16:37:02.224Z,1628959022.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1896.90 m. Resuming terminal guidance.
2021-08-14T16:37:02.224Z,1628959022.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:37:04.632Z,1628959024.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:04.997Z,1628959024.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:04.997Z,1628959024.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:04.997Z,1628959024.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:04.998Z,1628959024.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:05.398Z,1628959025.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,07DF0,183,80,80,7E,FF
2021-08-14T16:37:05.398Z,1628959025.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:05.399Z,1628959025.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:05.401Z,1628959025.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:05.855Z,1628959025.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:07.459Z,1628959027.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:09.038Z,1628959029.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,183,80,80,7E,FF
2021-08-14T16:37:09.038Z,1628959029.038 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,183,80,80,7E,FF
2021-08-14T16:37:09.038Z,1628959029.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:37:10.287Z,1628959030.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:10.669Z,1628959030.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:10.669Z,1628959030.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:10.669Z,1628959030.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:10.670Z,1628959030.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:11.054Z,1628959031.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,183,80,80,7E,FF
2021-08-14T16:37:11.054Z,1628959031.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:11.054Z,1628959031.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:11.057Z,1628959031.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:11.460Z,1628959031.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:12.289Z,1628959032.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,0185F,184,80,80,42,FF
2021-08-14T16:37:12.289Z,1628959032.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:12.292Z,1628959032.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163712.88*5E

2021-08-14T16:37:12.736Z,1628959032.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.839996 m, bearing: 96.191412 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:37:12.737Z,1628959032.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 96.191412deg and heading rate command to 0 deg/s.
2021-08-14T16:37:15.168Z,1628959035.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:15.506Z,1628959035.506 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:15.506Z,1628959035.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:15.506Z,1628959035.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:15.507Z,1628959035.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:15.901Z,1628959035.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,0185F,184,80,80,42,FF
2021-08-14T16:37:15.901Z,1628959035.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:15.901Z,1628959035.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:15.903Z,1628959035.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:16.308Z,1628959036.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:17.139Z,1628959037.139 [Micromodem](INFO): Nmea in: $SNTTA,0.061305,,,,163717.72*41

2021-08-14T16:37:17.967Z,1628959037.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:19.541Z,1628959039.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,42,FF
2021-08-14T16:37:19.541Z,1628959039.541 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,42,FF
2021-08-14T16:37:19.541Z,1628959039.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:37:20.837Z,1628959040.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:21.163Z,1628959041.163 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:21.166Z,1628959041.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:21.167Z,1628959041.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:21.168Z,1628959041.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:21.563Z,1628959041.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,42,FF
2021-08-14T16:37:21.563Z,1628959041.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:21.563Z,1628959041.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:21.565Z,1628959041.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:21.988Z,1628959041.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:22.385Z,1628959042.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00706,186,80,80,B0,FF
2021-08-14T16:37:22.385Z,1628959042.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:22.862Z,1628959042.862 [Micromodem](INFO): Nmea in: $SNTTA,0.056857,,,,163723.39*41

2021-08-14T16:37:22.914Z,1628959042.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.380005 m, bearing: 112.304067 deg, deltaT: 10.094722 s, approachRate: -26.395971 m/s, LOS rate: 1.596146 deg/s, posRepo size: 2
2021-08-14T16:37:22.921Z,1628959042.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.380005 m,
      bearing: 112.304067 deg,
      approachRate: -26.395971 m/s,
      LOS rate: 1.596146 deg/s,
      cmd update: 4.788439 deg/s,
      cmd heading: 96.191412 deg,
      new cmd heading: 96.191412 deg.

2021-08-14T16:37:24.926Z,1628959044.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:25.241Z,1628959045.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:25.241Z,1628959045.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:25.241Z,1628959045.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:25.242Z,1628959045.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:25.618Z,1628959045.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00706,186,80,80,B0,FF
2021-08-14T16:37:25.618Z,1628959045.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:25.618Z,1628959045.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:25.622Z,1628959045.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:26.020Z,1628959046.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:26.425Z,1628959046.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,0073E,186,80,80,63,FF
2021-08-14T16:37:26.425Z,1628959046.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:26.885Z,1628959046.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163727.44*58

2021-08-14T16:37:26.915Z,1628959046.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.740005 m, bearing: 121.505145 deg, deltaT: 4.040292 s, approachRate: 0.831623 m/s, LOS rate: 2.277330 deg/s, posRepo size: 3
2021-08-14T16:37:26.933Z,1628959046.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.740005 m,
      bearing: 121.505145 deg,
      approachRate: 0.831623 m/s,
      LOS rate: 2.277330 deg/s,
      cmd update: 6.831989 deg/s,
      cmd heading: 115.538479 deg,
      new cmd heading: 117.799163 deg.

2021-08-14T16:37:29.305Z,1628959049.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:29.669Z,1628959049.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:29.669Z,1628959049.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:29.669Z,1628959049.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:29.670Z,1628959049.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:30.057Z,1628959050.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,0073E,186,80,80,63,FF
2021-08-14T16:37:30.057Z,1628959050.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:30.057Z,1628959050.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:30.059Z,1628959050.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:30.469Z,1628959050.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:31.279Z,1628959051.279 [Micromodem](INFO): Nmea in: $SNTTA,0.452538,0.452663,,,163731.88*52

2021-08-14T16:37:32.113Z,1628959052.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:33.697Z,1628959053.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,63,FF
2021-08-14T16:37:33.697Z,1628959053.697 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,63,FF
2021-08-14T16:37:33.697Z,1628959053.697 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:37:34.945Z,1628959054.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:35.309Z,1628959055.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:35.309Z,1628959055.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:35.309Z,1628959055.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:35.310Z,1628959055.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:35.717Z,1628959055.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,63,FF
2021-08-14T16:37:35.717Z,1628959055.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:35.717Z,1628959055.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:35.719Z,1628959055.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:36.120Z,1628959056.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:36.521Z,1628959056.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,007A4,189,80,80,91,FF
2021-08-14T16:37:36.522Z,1628959056.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:36.966Z,1628959056.966 [Micromodem](INFO): Nmea in: $SNTTA,0.076473,,,,163737.54*47

2021-08-14T16:37:36.993Z,1628959056.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.860001 m, bearing: 174.495911 deg, deltaT: 10.119722 s, approachRate: 0.604759 m/s, LOS rate: 5.236385 deg/s, posRepo size: 4
2021-08-14T16:37:36.995Z,1628959056.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.860001 m,
      bearing: 174.495911 deg,
      approachRate: 0.604759 m/s,
      LOS rate: 5.236385 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 184.511080 deg,
      new cmd heading: 187.615201 deg.

2021-08-14T16:37:39.399Z,1628959059.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:39.774Z,1628959059.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:39.774Z,1628959059.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:39.775Z,1628959059.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:39.776Z,1628959059.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:40.161Z,1628959060.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,007A4,189,80,80,91,FF
2021-08-14T16:37:40.161Z,1628959060.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:40.162Z,1628959060.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:40.163Z,1628959060.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:40.570Z,1628959060.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:40.974Z,1628959060.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,007C6,189,80,80,97,FF
2021-08-14T16:37:40.974Z,1628959060.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:40.983Z,1628959060.983 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:37:41.406Z,1628959061.406 [Micromodem](INFO): Nmea in: $SNTTA,0.054200,,,,163741.99*45

2021-08-14T16:37:41.441Z,1628959061.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.900002 m, bearing: 194.411977 deg, deltaT: 4.432915 s, approachRate: 0.460194 m/s, LOS rate: 4.492770 deg/s, posRepo size: 4
2021-08-14T16:37:41.443Z,1628959061.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.900002 m,
      bearing: 194.411977 deg,
      approachRate: 0.460194 m/s,
      LOS rate: 4.492770 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.996137 deg,
      new cmd heading: 243.348077 deg.

2021-08-14T16:37:43.849Z,1628959063.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:44.205Z,1628959064.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:44.205Z,1628959064.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:44.205Z,1628959064.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:44.206Z,1628959064.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:44.602Z,1628959064.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,007C6,189,80,80,97,FF
2021-08-14T16:37:44.602Z,1628959064.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:44.602Z,1628959064.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:44.605Z,1628959064.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:45.025Z,1628959065.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:45.409Z,1628959065.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C2,000,007D2,185,80,80,64,FF
2021-08-14T16:37:45.410Z,1628959065.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:45.413Z,1628959065.413 [Micromodem](INFO): Nmea in: $SNTTA,0.057192,0.179016,,,163746.43*58

2021-08-14T16:37:45.886Z,1628959065.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.620003 m, bearing: 159.084832 deg, deltaT: 4.505450 s, approachRate: 0.159807 m/s, LOS rate: -7.840980 deg/s, posRepo size: 4
2021-08-14T16:37:45.904Z,1628959065.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.620003 m,
      bearing: 159.084832 deg,
      approachRate: 0.159807 m/s,
      LOS rate: -7.840980 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.962587 deg,
      new cmd heading: 296.685007 deg.

2021-08-14T16:37:48.255Z,1628959068.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:48.653Z,1628959068.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:48.653Z,1628959068.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:48.653Z,1628959068.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:48.654Z,1628959068.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:49.049Z,1628959069.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C2,000,007D2,185,80,80,64,FF
2021-08-14T16:37:49.049Z,1628959069.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:49.049Z,1628959069.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:49.051Z,1628959069.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:49.457Z,1628959069.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:49.873Z,1628959069.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D53,000,007DA,189,80,80,A8,FF
2021-08-14T16:37:49.874Z,1628959069.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:50.301Z,1628959070.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163750.87*57

2021-08-14T16:37:50.323Z,1628959070.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.099998 m, bearing: 232.094227 deg, deltaT: 4.404057 s, approachRate: 0.108989 m/s, LOS rate: 16.577759 deg/s, posRepo size: 4
2021-08-14T16:37:50.324Z,1628959070.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.577759 deg/s. Setting heading cmd to target bearing of 232.094227deg and heading rate command to 0 deg/s.
2021-08-14T16:37:52.711Z,1628959072.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:53.085Z,1628959073.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:53.085Z,1628959073.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:53.085Z,1628959073.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:53.086Z,1628959073.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:53.494Z,1628959073.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D53,000,007DA,189,80,80,A8,FF
2021-08-14T16:37:53.494Z,1628959073.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:53.494Z,1628959073.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:53.495Z,1628959073.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:53.897Z,1628959073.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:54.293Z,1628959074.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007CD,189,80,80,A8,FF
2021-08-14T16:37:54.294Z,1628959074.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:54.746Z,1628959074.746 [Micromodem](INFO): Nmea in: $SNTTA,0.061355,,,,163755.32*46

2021-08-14T16:37:54.765Z,1628959074.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 281.979169 deg, deltaT: 4.407351 s, approachRate: -0.176977 m/s, LOS rate: 11.318577 deg/s, posRepo size: 4
2021-08-14T16:37:54.767Z,1628959074.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.320000 m,
      bearing: 281.979169 deg,
      approachRate: -0.176977 m/s,
      LOS rate: 11.318577 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 232.094227 deg,
      new cmd heading: 232.094227 deg.

2021-08-14T16:37:56.831Z,1628959076.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:37:57.136Z,1628959077.136 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:37:57.137Z,1628959077.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:37:57.138Z,1628959077.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:37:57.139Z,1628959077.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:37:57.529Z,1628959077.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007CD,189,80,80,A8,FF
2021-08-14T16:37:57.529Z,1628959077.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:37:57.529Z,1628959077.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:37:57.531Z,1628959077.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:37:57.952Z,1628959077.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:37:58.337Z,1628959078.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,007BB,189,80,80,90,FF
2021-08-14T16:37:58.338Z,1628959078.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:37:58.788Z,1628959078.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163759.35*57

2021-08-14T16:37:58.841Z,1628959078.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 277.353574 deg, deltaT: 4.073063 s, approachRate: -0.265157 m/s, LOS rate: -1.135655 deg/s, posRepo size: 4
2021-08-14T16:37:58.843Z,1628959078.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.239998 m,
      bearing: 277.353574 deg,
      approachRate: -0.265157 m/s,
      LOS rate: -1.135655 deg/s,
      cmd update: -3.406966 deg/s,
      cmd heading: 280.935032 deg,
      new cmd heading: 286.384892 deg.

2021-08-14T16:38:01.263Z,1628959081.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:01.573Z,1628959081.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:01.573Z,1628959081.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:01.573Z,1628959081.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:01.574Z,1628959081.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:01.933Z,1628959081.933 [CTD_Seabird](ERROR): Failed to parse device response: .02
2021-08-14T16:38:01.981Z,1628959081.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,007BB,189,80,80,90,FF
2021-08-14T16:38:01.981Z,1628959081.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:01.982Z,1628959081.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:01.983Z,1628959081.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:02.388Z,1628959082.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:02.792Z,1628959082.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,0079E,186,80,80,6D,FF
2021-08-14T16:38:02.794Z,1628959082.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:03.253Z,1628959083.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163803.81*58

2021-08-14T16:38:03.316Z,1628959083.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 228.708707 deg, deltaT: 4.470420 s, approachRate: -0.389223 m/s, LOS rate: -10.881498 deg/s, posRepo size: 4
2021-08-14T16:38:03.318Z,1628959083.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.500008 m,
      bearing: 228.708707 deg,
      approachRate: -0.389223 m/s,
      LOS rate: -10.881498 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 265.694281 deg,
      new cmd heading: 264.140459 deg.

2021-08-14T16:38:05.682Z,1628959085.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:06.017Z,1628959086.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:06.017Z,1628959086.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:06.017Z,1628959086.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:06.018Z,1628959086.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:06.421Z,1628959086.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,0079E,186,80,80,6D,FF
2021-08-14T16:38:06.421Z,1628959086.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:06.421Z,1628959086.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:06.423Z,1628959086.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:06.869Z,1628959086.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:07.257Z,1628959087.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00773,186,80,80,8E,FF
2021-08-14T16:38:07.257Z,1628959087.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:07.674Z,1628959087.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163808.24*5C

2021-08-14T16:38:07.695Z,1628959087.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.919998 m, bearing: 291.613287 deg, deltaT: 4.437952 s, approachRate: -0.581351 m/s, LOS rate: 14.174237 deg/s, posRepo size: 4
2021-08-14T16:38:07.696Z,1628959087.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.174237 deg/s. Setting heading cmd to target bearing of 291.613287deg and heading rate command to 0 deg/s.
2021-08-14T16:38:10.099Z,1628959090.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:10.461Z,1628959090.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:10.461Z,1628959090.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:10.461Z,1628959090.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:10.462Z,1628959090.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:10.865Z,1628959090.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00773,186,80,80,8E,FF
2021-08-14T16:38:10.866Z,1628959090.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:10.866Z,1628959090.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:10.868Z,1628959090.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:11.277Z,1628959091.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:11.673Z,1628959091.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAB,000,00749,189,80,80,7B,FF
2021-08-14T16:38:11.674Z,1628959091.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:12.105Z,1628959092.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163812.69*5E

2021-08-14T16:38:12.148Z,1628959092.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.400009 m, bearing: 291.156676 deg, deltaT: 4.397087 s, approachRate: -0.573104 m/s, LOS rate: -0.103844 deg/s, posRepo size: 4
2021-08-14T16:38:12.150Z,1628959092.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.400009 m,
      bearing: 291.156676 deg,
      approachRate: -0.573104 m/s,
      LOS rate: -0.103844 deg/s,
      cmd update: -0.311532 deg/s,
      cmd heading: 291.613287 deg,
      new cmd heading: 291.613287 deg.

2021-08-14T16:38:14.514Z,1628959094.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:14.909Z,1628959094.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:14.909Z,1628959094.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:14.909Z,1628959094.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:14.910Z,1628959094.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:15.320Z,1628959095.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAB,000,00749,189,80,80,7B,FF
2021-08-14T16:38:15.320Z,1628959095.320 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:15.321Z,1628959095.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:15.322Z,1628959095.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:15.713Z,1628959095.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:16.117Z,1628959096.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5B,000,00723,18A,80,80,AC,FF
2021-08-14T16:38:16.117Z,1628959096.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:16.549Z,1628959096.549 [Micromodem](INFO): Nmea in: $SNTTA,0.047786,,,,163817.15*44

2021-08-14T16:38:16.571Z,1628959096.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 294.567781 deg, deltaT: 4.484058 s, approachRate: -0.508468 m/s, LOS rate: 0.760718 deg/s, posRepo size: 4
2021-08-14T16:38:16.574Z,1628959096.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.120010 m,
      bearing: 294.567781 deg,
      approachRate: -0.508468 m/s,
      LOS rate: 0.760718 deg/s,
      cmd update: 2.282155 deg/s,
      cmd heading: 290.216386 deg,
      new cmd heading: 290.092798 deg.

2021-08-14T16:38:18.974Z,1628959098.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:19.367Z,1628959099.367 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:19.367Z,1628959099.367 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:19.367Z,1628959099.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:19.373Z,1628959099.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:19.749Z,1628959099.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5B,000,00723,18A,80,80,AC,FF
2021-08-14T16:38:19.749Z,1628959099.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:19.749Z,1628959099.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:19.751Z,1628959099.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:20.165Z,1628959100.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:20.553Z,1628959100.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,106,000,006FE,186,80,80,47,FF
2021-08-14T16:38:20.554Z,1628959100.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:21.001Z,1628959101.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163821.57*53

2021-08-14T16:38:21.064Z,1628959101.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 246.409429 deg, deltaT: 4.451191 s, approachRate: -0.498745 m/s, LOS rate: -10.819206 deg/s, posRepo size: 4
2021-08-14T16:38:21.066Z,1628959101.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.900002 m,
      bearing: 246.409429 deg,
      approachRate: -0.498745 m/s,
      LOS rate: -10.819206 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.338772 deg,
      new cmd heading: 301.364793 deg.

2021-08-14T16:38:21.394Z,1628959101.394 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T16:38:23.450Z,1628959103.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:23.809Z,1628959103.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:23.810Z,1628959103.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:23.810Z,1628959103.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:23.811Z,1628959103.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:24.205Z,1628959104.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
106,000,006FE,186,80,80,47,FF
2021-08-14T16:38:24.205Z,1628959104.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:24.205Z,1628959104.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:24.207Z,1628959104.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:24.602Z,1628959104.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:25.017Z,1628959105.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,006D1,186,80,80,8B,FF
2021-08-14T16:38:25.017Z,1628959105.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:25.021Z,1628959105.021 [Micromodem](INFO): Nmea in: $SNTTA,0.050215,0.143768,,,163826.03*59

2021-08-14T16:38:25.481Z,1628959105.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 293.457411 deg, deltaT: 4.452417 s, approachRate: -0.606413 m/s, LOS rate: 10.566841 deg/s, posRepo size: 4
2021-08-14T16:38:25.483Z,1628959105.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.199997 m,
      bearing: 293.457411 deg,
      approachRate: -0.606413 m/s,
      LOS rate: 10.566841 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 247.056407 deg,
      new cmd heading: 241.943747 deg.

2021-08-14T16:38:27.906Z,1628959107.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:28.242Z,1628959108.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:28.242Z,1628959108.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:28.242Z,1628959108.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:28.243Z,1628959108.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:28.645Z,1628959108.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,006D1,186,80,80,8B,FF
2021-08-14T16:38:28.645Z,1628959108.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:28.645Z,1628959108.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:28.647Z,1628959108.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:29.065Z,1628959109.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:29.454Z,1628959109.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,006A5,186,80,80,7F,FF
2021-08-14T16:38:29.454Z,1628959109.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:29.889Z,1628959109.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163830.47*52

2021-08-14T16:38:29.939Z,1628959109.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.559998 m, bearing: 293.632756 deg, deltaT: 4.412803 s, approachRate: -0.598259 m/s, LOS rate: 0.039735 deg/s, posRepo size: 4
2021-08-14T16:38:29.945Z,1628959109.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.559998 m,
      bearing: 293.632756 deg,
      approachRate: -0.598259 m/s,
      LOS rate: 0.039735 deg/s,
      cmd update: 0.119206 deg/s,
      cmd heading: 300.346825 deg,
      new cmd heading: 305.721685 deg.

2021-08-14T16:38:32.311Z,1628959112.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:32.686Z,1628959112.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:32.686Z,1628959112.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:32.686Z,1628959112.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:32.687Z,1628959112.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:33.111Z,1628959113.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,006A5,186,80,80,7F,FF
2021-08-14T16:38:33.111Z,1628959113.111 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:33.111Z,1628959113.111 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:33.114Z,1628959113.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:33.501Z,1628959113.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:33.903Z,1628959113.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,00678,187,80,80,84,FF
2021-08-14T16:38:33.904Z,1628959113.904 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:34.317Z,1628959114.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163834.94*58

2021-08-14T16:38:34.348Z,1628959114.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.860001 m, bearing: 299.154417 deg, deltaT: 4.467069 s, approachRate: -0.604423 m/s, LOS rate: 1.236082 deg/s, posRepo size: 4
2021-08-14T16:38:34.350Z,1628959114.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.860001 m,
      bearing: 299.154417 deg,
      approachRate: -0.604423 m/s,
      LOS rate: 1.236082 deg/s,
      cmd update: 3.708245 deg/s,
      cmd heading: 300.876941 deg,
      new cmd heading: 300.925733 deg.

2021-08-14T16:38:36.825Z,1628959116.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:37.130Z,1628959117.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:37.130Z,1628959117.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:37.130Z,1628959117.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:37.131Z,1628959117.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:37.537Z,1628959117.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,00678,187,80,80,84,FF
2021-08-14T16:38:37.537Z,1628959117.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:37.537Z,1628959117.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:37.539Z,1628959117.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:37.947Z,1628959117.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:38.333Z,1628959118.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,0064B,187,80,80,96,FF
2021-08-14T16:38:38.334Z,1628959118.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:38.781Z,1628959118.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163839.36*5D

2021-08-14T16:38:38.848Z,1628959118.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.159996 m, bearing: 293.849710 deg, deltaT: 4.424633 s, approachRate: -0.610221 m/s, LOS rate: -1.198903 deg/s, posRepo size: 4
2021-08-14T16:38:38.850Z,1628959118.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 293.849710 deg,
      approachRate: -0.610221 m/s,
      LOS rate: -1.198903 deg/s,
      cmd update: -3.596710 deg/s,
      cmd heading: 317.343861 deg,
      new cmd heading: 319.069148 deg.

2021-08-14T16:38:41.267Z,1628959121.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:41.566Z,1628959121.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:41.566Z,1628959121.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:41.566Z,1628959121.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:41.567Z,1628959121.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:41.973Z,1628959121.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,0064B,187,80,80,96,FF
2021-08-14T16:38:41.973Z,1628959121.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:41.973Z,1628959121.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:41.975Z,1628959121.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:42.376Z,1628959122.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:42.779Z,1628959122.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BC,000,0061C,186,80,80,AB,FF
2021-08-14T16:38:42.781Z,1628959122.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:43.245Z,1628959123.245 [Micromodem](INFO): Nmea in: $SNTTA,0.059563,,,,163843.80*4F

2021-08-14T16:38:43.311Z,1628959123.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 294.183706 deg, deltaT: 4.476585 s, approachRate: -0.629944 m/s, LOS rate: 0.074610 deg/s, posRepo size: 4
2021-08-14T16:38:43.313Z,1628959123.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.340000 m,
      bearing: 294.183706 deg,
      approachRate: -0.629944 m/s,
      LOS rate: 0.074610 deg/s,
      cmd update: 0.223829 deg/s,
      cmd heading: 301.248299 deg,
      new cmd heading: 299.603804 deg.

2021-08-14T16:38:45.665Z,1628959125.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:46.013Z,1628959126.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:46.013Z,1628959126.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:46.014Z,1628959126.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:46.015Z,1628959126.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:46.413Z,1628959126.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BC,000,0061C,186,80,80,AB,FF
2021-08-14T16:38:46.413Z,1628959126.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:46.413Z,1628959126.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:46.415Z,1628959126.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:46.879Z,1628959126.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:46.902Z,1628959126.902 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:38:47.683Z,1628959127.683 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163848.24*58

2021-08-14T16:38:48.501Z,1628959128.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:50.081Z,1628959130.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,AB,FF
2021-08-14T16:38:50.081Z,1628959130.081 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,AB,FF
2021-08-14T16:38:50.081Z,1628959130.081 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:38:51.358Z,1628959131.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:51.703Z,1628959131.703 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:51.703Z,1628959131.703 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:51.703Z,1628959131.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:51.704Z,1628959131.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:52.101Z,1628959132.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,AB,FF
2021-08-14T16:38:52.101Z,1628959132.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:52.101Z,1628959132.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:52.103Z,1628959132.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:52.162Z,1628959132.162 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:38:52.520Z,1628959132.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:52.909Z,1628959132.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,005AF,185,80,80,6C,FF
2021-08-14T16:38:52.910Z,1628959132.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:53.345Z,1628959133.345 [Micromodem](INFO): Nmea in: $SNTTA,,0.470546,,,163853.93*44

2021-08-14T16:38:53.436Z,1628959133.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 293.312939 deg, deltaT: 10.077417 s, approachRate: -0.648976 m/s, LOS rate: -0.086408 deg/s, posRepo size: 4
2021-08-14T16:38:53.438Z,1628959133.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.800003 m,
      bearing: 293.312939 deg,
      approachRate: -0.648976 m/s,
      LOS rate: -0.086408 deg/s,
      cmd update: -0.259223 deg/s,
      cmd heading: 303.505096 deg,
      new cmd heading: 303.613188 deg.

2021-08-14T16:38:55.767Z,1628959135.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:38:56.145Z,1628959136.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:38:56.145Z,1628959136.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:38:56.145Z,1628959136.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:38:56.146Z,1628959136.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:38:56.546Z,1628959136.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,005AF,185,80,80,6C,FF
2021-08-14T16:38:56.546Z,1628959136.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:38:56.546Z,1628959136.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:38:56.547Z,1628959136.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:38:56.956Z,1628959136.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:38:56.973Z,1628959136.973 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:38:57.365Z,1628959137.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,00583,186,80,80,7C,FF
2021-08-14T16:38:57.366Z,1628959137.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:38:57.817Z,1628959137.817 [Micromodem](INFO): Nmea in: $SNTTA,0.049910,,,,163858.40*40

2021-08-14T16:38:57.851Z,1628959137.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 291.799150 deg, deltaT: 4.556280 s, approachRate: -0.579422 m/s, LOS rate: -0.332242 deg/s, posRepo size: 4
2021-08-14T16:38:57.854Z,1628959137.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.159996 m,
      bearing: 291.799150 deg,
      approachRate: -0.579422 m/s,
      LOS rate: -0.332242 deg/s,
      cmd update: -0.996727 deg/s,
      cmd heading: 302.324456 deg,
      new cmd heading: 302.231193 deg.

2021-08-14T16:39:00.224Z,1628959140.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:00.597Z,1628959140.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:00.597Z,1628959140.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:00.597Z,1628959140.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:00.598Z,1628959140.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:01.009Z,1628959141.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,00583,186,80,80,7C,FF
2021-08-14T16:39:01.009Z,1628959141.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:01.009Z,1628959141.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:01.011Z,1628959141.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:01.421Z,1628959141.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:01.861Z,1628959141.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,134,000,00550,185,80,80,83,FF
2021-08-14T16:39:01.861Z,1628959141.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:01.869Z,1628959141.869 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:39:02.265Z,1628959142.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163902.83*5A

2021-08-14T16:39:02.324Z,1628959142.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 292.275543 deg, deltaT: 4.429287 s, approachRate: -0.690855 m/s, LOS rate: 0.107555 deg/s, posRepo size: 4
2021-08-14T16:39:02.332Z,1628959142.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 292.275543 deg,
      approachRate: -0.690855 m/s,
      LOS rate: 0.107555 deg/s,
      cmd update: 0.322665 deg/s,
      cmd heading: 297.911706 deg,
      new cmd heading: 297.512338 deg.

2021-08-14T16:39:04.667Z,1628959144.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:05.045Z,1628959145.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:05.045Z,1628959145.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:05.045Z,1628959145.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:05.046Z,1628959145.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:05.457Z,1628959145.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
134,000,00550,185,80,80,83,FF
2021-08-14T16:39:05.457Z,1628959145.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:05.457Z,1628959145.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:05.459Z,1628959145.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:05.867Z,1628959145.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:06.257Z,1628959146.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00525,186,80,80,5A,FF
2021-08-14T16:39:06.257Z,1628959146.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:06.698Z,1628959146.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163907.28*5E

2021-08-14T16:39:06.714Z,1628959146.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 292.444494 deg, deltaT: 4.375902 s, approachRate: -0.589593 m/s, LOS rate: 0.038610 deg/s, posRepo size: 4
2021-08-14T16:39:06.716Z,1628959146.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.520000 m,
      bearing: 292.444494 deg,
      approachRate: -0.589593 m/s,
      LOS rate: 0.038610 deg/s,
      cmd update: 0.115829 deg/s,
      cmd heading: 299.317212 deg,
      new cmd heading: 299.459098 deg.

2021-08-14T16:39:09.158Z,1628959149.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:09.482Z,1628959149.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:09.482Z,1628959149.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:09.483Z,1628959149.483 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:09.483Z,1628959149.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:09.901Z,1628959149.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00525,186,80,80,5A,FF
2021-08-14T16:39:09.901Z,1628959149.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:09.901Z,1628959149.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:09.903Z,1628959149.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:10.341Z,1628959150.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:10.702Z,1628959150.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,004FA,186,80,80,85,FF
2021-08-14T16:39:10.702Z,1628959150.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:11.160Z,1628959151.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163911.73*57

2021-08-14T16:39:11.234Z,1628959151.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.939999 m, bearing: 289.994041 deg, deltaT: 4.495777 s, approachRate: -0.573872 m/s, LOS rate: -0.545057 deg/s, posRepo size: 4
2021-08-14T16:39:11.235Z,1628959151.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.94 m.
2021-08-14T16:39:11.242Z,1628959151.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.939999 m,
      bearing: 289.994041 deg,
      approachRate: -0.573872 m/s,
      LOS rate: -0.545057 deg/s,
      cmd update: -1.635170 deg/s,
      cmd heading: 299.839671 deg,
      new cmd heading: 299.891097 deg.

2021-08-14T16:39:11.555Z,1628959151.555 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:39:11.637Z,1628959151.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:39:11.638Z,1628959151.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:39:11.638Z,1628959151.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:39:11.639Z,1628959151.639 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:39:11.639Z,1628959151.639 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:39:11.639Z,1628959151.639 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:39:11.984Z,1628959151.984 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:39:11.984Z,1628959151.984 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:39:11.984Z,1628959151.984 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:39:11.984Z,1628959151.984 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:39:13.562Z,1628959153.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:14.017Z,1628959154.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:14.017Z,1628959154.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:14.017Z,1628959154.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:14.018Z,1628959154.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:14.341Z,1628959154.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,004FA,186,80,80,85,FF
2021-08-14T16:39:14.341Z,1628959154.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:14.341Z,1628959154.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:14.343Z,1628959154.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:14.749Z,1628959154.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:15.161Z,1628959155.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,004C3,185,80,80,60,FF
2021-08-14T16:39:15.162Z,1628959155.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:15.316Z,1628959155.316 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:15.589Z,1628959155.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163916.17*52

2021-08-14T16:39:15.635Z,1628959155.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 286.693721 deg, deltaT: 4.519798 s, approachRate: -0.730121 m/s, LOS rate: -0.730192 deg/s, posRepo size: 4
2021-08-14T16:39:15.635Z,1628959155.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m.
2021-08-14T16:39:15.638Z,1628959155.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 286.693721 deg,
      approachRate: -0.730121 m/s,
      LOS rate: -0.730192 deg/s,
      cmd update: -2.190576 deg/s,
      cmd heading: 292.462141 deg,
      new cmd heading: 291.910461 deg.

2021-08-14T16:39:18.026Z,1628959158.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:18.377Z,1628959158.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:18.377Z,1628959158.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:18.377Z,1628959158.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:18.378Z,1628959158.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:18.805Z,1628959158.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,004C3,185,80,80,60,FF
2021-08-14T16:39:18.805Z,1628959158.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:18.806Z,1628959158.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:18.815Z,1628959158.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:19.228Z,1628959159.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:19.593Z,1628959159.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,00497,186,80,80,93,FF
2021-08-14T16:39:19.594Z,1628959159.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:19.653Z,1628959159.653 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:20.022Z,1628959160.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163920.64*53

2021-08-14T16:39:20.060Z,1628959160.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 287.294969 deg, deltaT: 4.336402 s, approachRate: -0.608800 m/s, LOS rate: 0.138651 deg/s, posRepo size: 4
2021-08-14T16:39:20.061Z,1628959160.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-14T16:39:20.063Z,1628959160.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 287.294969 deg,
      approachRate: -0.608800 m/s,
      LOS rate: 0.138651 deg/s,
      cmd update: 0.415954 deg/s,
      cmd heading: 282.935027 deg,
      new cmd heading: 282.027452 deg.

2021-08-14T16:39:22.038Z,1628959162.038 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T16:39:22.440Z,1628959162.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:22.853Z,1628959162.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:22.853Z,1628959162.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:22.853Z,1628959162.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:22.854Z,1628959162.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:23.248Z,1628959163.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,00497,186,80,80,93,FF
2021-08-14T16:39:23.249Z,1628959163.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:23.249Z,1628959163.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:23.250Z,1628959163.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:23.641Z,1628959163.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:24.057Z,1628959164.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,0046B,184,80,80,65,FF
2021-08-14T16:39:24.057Z,1628959164.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:24.112Z,1628959164.112 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:24.469Z,1628959164.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163925.07*53

2021-08-14T16:39:24.488Z,1628959164.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 288.735838 deg, deltaT: 4.459137 s, approachRate: -0.592042 m/s, LOS rate: 0.323127 deg/s, posRepo size: 4
2021-08-14T16:39:24.488Z,1628959164.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.36 m.
2021-08-14T16:39:24.489Z,1628959164.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.36 m.
2021-08-14T16:39:24.489Z,1628959164.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:39:24.491Z,1628959164.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.359999 m,
      bearing: 288.735838 deg,
      approachRate: -0.592042 m/s,
      LOS rate: 0.323127 deg/s,
      cmd update: 0.969382 deg/s,
      cmd heading: 284.781421 deg,
      new cmd heading: 284.948987 deg.

2021-08-14T16:39:26.895Z,1628959166.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:27.273Z,1628959167.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:27.273Z,1628959167.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:27.273Z,1628959167.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:27.274Z,1628959167.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:27.684Z,1628959167.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,0046B,184,80,80,65,FF
2021-08-14T16:39:27.684Z,1628959167.684 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:27.685Z,1628959167.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:27.686Z,1628959167.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:28.077Z,1628959168.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:28.486Z,1628959168.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00441,185,80,80,A5,FF
2021-08-14T16:39:28.486Z,1628959168.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:28.506Z,1628959168.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:28.914Z,1628959168.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163929.51*5C

2021-08-14T16:39:28.947Z,1628959168.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 285.238535 deg, deltaT: 4.394257 s, approachRate: -0.573476 m/s, LOS rate: -0.795880 deg/s, posRepo size: 4
2021-08-14T16:39:28.950Z,1628959168.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 285.238535 deg,
      approachRate: -0.573476 m/s,
      LOS rate: -0.795880 deg/s,
      cmd update: -2.387641 deg/s,
      cmd heading: 289.064741 deg,
      new cmd heading: 289.495101 deg.

2021-08-14T16:39:31.374Z,1628959171.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:31.709Z,1628959171.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:31.709Z,1628959171.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:31.709Z,1628959171.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:31.710Z,1628959171.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:32.119Z,1628959172.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00441,185,80,80,A5,FF
2021-08-14T16:39:32.119Z,1628959172.119 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:32.119Z,1628959172.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:32.121Z,1628959172.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:32.536Z,1628959172.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:32.933Z,1628959172.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00412,185,80,80,7B,FF
2021-08-14T16:39:32.934Z,1628959172.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:32.945Z,1628959172.945 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T16:39:33.001Z,1628959173.001 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:33.377Z,1628959173.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163933.95*5F

2021-08-14T16:39:33.413Z,1628959173.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 281.727381 deg, deltaT: 4.494252 s, approachRate: -0.627467 m/s, LOS rate: -0.781254 deg/s, posRepo size: 4
2021-08-14T16:39:33.415Z,1628959173.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.020000 m,
      bearing: 281.727381 deg,
      approachRate: -0.627467 m/s,
      LOS rate: -0.781254 deg/s,
      cmd update: -2.343763 deg/s,
      cmd heading: 278.341506 deg,
      new cmd heading: 277.342178 deg.

2021-08-14T16:39:35.820Z,1628959175.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:36.161Z,1628959176.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:36.161Z,1628959176.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:36.161Z,1628959176.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:36.162Z,1628959176.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:36.562Z,1628959176.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00412,185,80,80,7B,FF
2021-08-14T16:39:36.562Z,1628959176.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:36.562Z,1628959176.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:36.563Z,1628959176.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:36.964Z,1628959176.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:37.377Z,1628959177.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,003EE,184,80,80,98,FF
2021-08-14T16:39:37.377Z,1628959177.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:37.469Z,1628959177.469 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:37.829Z,1628959177.829 [Micromodem](INFO): Nmea in: $SNTTA,0.031586,,,,163938.39*45

2021-08-14T16:39:37.855Z,1628959177.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 283.708846 deg, deltaT: 4.467958 s, approachRate: -0.483442 m/s, LOS rate: 0.443483 deg/s, posRepo size: 4
2021-08-14T16:39:37.858Z,1628959177.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.860001 m,
      bearing: 283.708846 deg,
      approachRate: -0.483442 m/s,
      LOS rate: 0.443483 deg/s,
      cmd update: 1.330450 deg/s,
      cmd heading: 267.862332 deg,
      new cmd heading: 266.948633 deg.

2021-08-14T16:39:40.218Z,1628959180.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:40.604Z,1628959180.604 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:40.605Z,1628959180.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:40.605Z,1628959180.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:40.606Z,1628959180.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:41.001Z,1628959181.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,003EE,184,80,80,98,FF
2021-08-14T16:39:41.001Z,1628959181.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:41.001Z,1628959181.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:41.003Z,1628959181.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:41.420Z,1628959181.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:41.869Z,1628959181.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,003B7,186,80,80,A0,FF
2021-08-14T16:39:41.869Z,1628959181.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:41.949Z,1628959181.949 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:42.250Z,1628959182.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163942.83*5E

2021-08-14T16:39:42.266Z,1628959182.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 289.371756 deg, deltaT: 4.479931 s, approachRate: -0.736618 m/s, LOS rate: 1.264062 deg/s, posRepo size: 4
2021-08-14T16:39:42.268Z,1628959182.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 289.371756 deg,
      approachRate: -0.736618 m/s,
      LOS rate: 1.264062 deg/s,
      cmd update: 3.792185 deg/s,
      cmd heading: 273.817268 deg,
      new cmd heading: 274.248909 deg.

2021-08-14T16:39:44.674Z,1628959184.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:45.054Z,1628959185.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:45.054Z,1628959185.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:45.054Z,1628959185.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:45.055Z,1628959185.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:45.449Z,1628959185.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,003B7,186,80,80,A0,FF
2021-08-14T16:39:45.449Z,1628959185.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:45.449Z,1628959185.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:45.451Z,1628959185.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:45.861Z,1628959185.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:46.263Z,1628959186.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00389,186,80,80,8C,FF
2021-08-14T16:39:46.263Z,1628959186.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:46.289Z,1628959186.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:46.705Z,1628959186.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163947.27*55

2021-08-14T16:39:46.741Z,1628959186.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 285.196543 deg, deltaT: 4.340014 s, approachRate: -0.635942 m/s, LOS rate: -0.962027 deg/s, posRepo size: 4
2021-08-14T16:39:46.743Z,1628959186.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 285.196543 deg,
      approachRate: -0.635942 m/s,
      LOS rate: -0.962027 deg/s,
      cmd update: -2.886082 deg/s,
      cmd heading: 290.269437 deg,
      new cmd heading: 292.016664 deg.

2021-08-14T16:39:47.112Z,1628959187.112 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:39:49.122Z,1628959189.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:49.497Z,1628959189.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:49.497Z,1628959189.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:49.498Z,1628959189.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:49.499Z,1628959189.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:49.893Z,1628959189.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00389,186,80,80,8C,FF
2021-08-14T16:39:49.893Z,1628959189.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:49.893Z,1628959189.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:49.895Z,1628959189.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:50.305Z,1628959190.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:50.706Z,1628959190.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,0035E,183,80,80,90,FF
2021-08-14T16:39:50.706Z,1628959190.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:50.730Z,1628959190.730 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:51.145Z,1628959191.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163951.72*52

2021-08-14T16:39:51.229Z,1628959191.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.220002 m, bearing: 286.523868 deg, deltaT: 4.441828 s, approachRate: -0.580842 m/s, LOS rate: 0.298824 deg/s, posRepo size: 4
2021-08-14T16:39:51.231Z,1628959191.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 286.523868 deg,
      approachRate: -0.580842 m/s,
      LOS rate: 0.298824 deg/s,
      cmd update: 0.896472 deg/s,
      cmd heading: 277.433753 deg,
      new cmd heading: 275.986230 deg.

2021-08-14T16:39:51.951Z,1628959191.951 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:39:53.579Z,1628959193.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:53.933Z,1628959193.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:53.934Z,1628959193.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:53.934Z,1628959193.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:53.935Z,1628959193.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:54.345Z,1628959194.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,0035E,183,80,80,90,FF
2021-08-14T16:39:54.345Z,1628959194.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:54.345Z,1628959194.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:54.347Z,1628959194.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:54.761Z,1628959194.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:55.173Z,1628959195.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00335,184,80,80,84,FF
2021-08-14T16:39:55.174Z,1628959195.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:55.289Z,1628959195.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:39:55.593Z,1628959195.593 [Micromodem](INFO): Nmea in: $SNTTA,0.039090,,,,163956.17*4B

2021-08-14T16:39:55.642Z,1628959195.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 288.578170 deg, deltaT: 4.558975 s, approachRate: -0.539596 m/s, LOS rate: 0.450606 deg/s, posRepo size: 4
2021-08-14T16:39:55.648Z,1628959195.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 288.578170 deg,
      approachRate: -0.539596 m/s,
      LOS rate: 0.450606 deg/s,
      cmd update: 1.351819 deg/s,
      cmd heading: 281.517194 deg,
      new cmd heading: 281.839394 deg.

2021-08-14T16:39:56.845Z,1628959196.845 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:39:58.025Z,1628959198.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:39:58.389Z,1628959198.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:39:58.389Z,1628959198.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:39:58.389Z,1628959198.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:39:58.390Z,1628959198.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:39:58.801Z,1628959198.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00335,184,80,80,84,FF
2021-08-14T16:39:58.801Z,1628959198.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:39:58.802Z,1628959198.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:39:58.812Z,1628959198.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:39:59.244Z,1628959199.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:39:59.593Z,1628959199.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,0030B,186,80,80,A6,FF
2021-08-14T16:39:59.593Z,1628959199.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:39:59.646Z,1628959199.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:00.021Z,1628959200.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164000.63*58

2021-08-14T16:40:00.060Z,1628959200.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 291.503567 deg, deltaT: 4.356083 s, approachRate: -0.578501 m/s, LOS rate: 0.671566 deg/s, posRepo size: 4
2021-08-14T16:40:00.062Z,1628959200.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 291.503567 deg,
      approachRate: -0.578501 m/s,
      LOS rate: 0.671566 deg/s,
      cmd update: 2.014698 deg/s,
      cmd heading: 287.405649 deg,
      new cmd heading: 287.975230 deg.

2021-08-14T16:40:02.472Z,1628959202.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:02.849Z,1628959202.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:02.849Z,1628959202.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:02.849Z,1628959202.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:02.850Z,1628959202.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:03.253Z,1628959203.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,0030B,186,80,80,A6,FF
2021-08-14T16:40:03.253Z,1628959203.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:03.254Z,1628959203.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:03.255Z,1628959203.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:03.645Z,1628959203.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:04.053Z,1628959204.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,002E3,185,80,80,AF,FF
2021-08-14T16:40:04.054Z,1628959204.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:04.139Z,1628959204.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:04.473Z,1628959204.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164005.08*50

2021-08-14T16:40:04.508Z,1628959204.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 292.408076 deg, deltaT: 4.493156 s, approachRate: -0.534146 m/s, LOS rate: 0.201308 deg/s, posRepo size: 4
2021-08-14T16:40:04.510Z,1628959204.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 292.408076 deg,
      approachRate: -0.534146 m/s,
      LOS rate: 0.201308 deg/s,
      cmd update: 0.603924 deg/s,
      cmd heading: 296.466226 deg,
      new cmd heading: 297.208032 deg.

2021-08-14T16:40:06.901Z,1628959206.901 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:40:06.917Z,1628959206.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:07.274Z,1628959207.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:07.274Z,1628959207.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:07.274Z,1628959207.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:07.275Z,1628959207.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:07.683Z,1628959207.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,002E3,185,80,80,AF,FF
2021-08-14T16:40:07.683Z,1628959207.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:07.683Z,1628959207.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:07.685Z,1628959207.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:08.087Z,1628959208.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:08.485Z,1628959208.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,002C9,183,80,80,AB,FF
2021-08-14T16:40:08.485Z,1628959208.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:08.526Z,1628959208.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:08.933Z,1628959208.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164009.51*50

2021-08-14T16:40:08.963Z,1628959208.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 299.523712 deg, deltaT: 4.387216 s, approachRate: -0.355579 m/s, LOS rate: 1.621902 deg/s, posRepo size: 4
2021-08-14T16:40:08.966Z,1628959208.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 299.523712 deg,
      approachRate: -0.355579 m/s,
      LOS rate: 1.621902 deg/s,
      cmd update: 4.865707 deg/s,
      cmd heading: 299.103665 deg,
      new cmd heading: 299.381847 deg.

2021-08-14T16:40:11.374Z,1628959211.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:11.717Z,1628959211.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:11.717Z,1628959211.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:11.717Z,1628959211.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:11.718Z,1628959211.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:12.126Z,1628959212.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,002C9,183,80,80,AB,FF
2021-08-14T16:40:12.126Z,1628959212.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:12.127Z,1628959212.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:12.129Z,1628959212.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:12.536Z,1628959212.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:12.930Z,1628959212.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,002BC,187,80,80,4B,FF
2021-08-14T16:40:12.931Z,1628959212.931 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:13.008Z,1628959213.008 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:13.361Z,1628959213.361 [Micromodem](INFO): Nmea in: $SNTTA,0.023924,,,,164013.95*43

2021-08-14T16:40:13.414Z,1628959213.414 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T16:40:13.414Z,1628959213.414 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:40:13.415Z,1628959213.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T16:40:13.415Z,1628959213.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:40:13.415Z,1628959213.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T16:40:13.416Z,1628959213.416 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 
2021-08-14T16:40:13.416Z,1628959213.416 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T16:40:13.416Z,1628959213.416 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T16:40:13.416Z,1628959213.416 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T16:40:13.419Z,1628959213.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 297.308764 deg, deltaT: 4.482169 s, approachRate: -0.174022 m/s, LOS rate: -0.494169 deg/s, posRepo size: 4
2021-08-14T16:40:13.421Z,1628959213.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 297.308764 deg,
      approachRate: -0.174022 m/s,
      LOS rate: -0.494169 deg/s,
      cmd update: -1.482507 deg/s,
      cmd heading: 320.971711 deg,
      new cmd heading: 323.022859 deg.

2021-08-14T16:40:13.824Z,1628959213.824 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T164013: (41.552319, -70.708603)
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T16:40:13.825Z,1628959213.825 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:40:15.813Z,1628959215.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:16.153Z,1628959216.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:16.153Z,1628959216.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:16.153Z,1628959216.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:16.154Z,1628959216.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:16.569Z,1628959216.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,002BC,187,80,80,4B,FF
2021-08-14T16:40:16.569Z,1628959216.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:16.569Z,1628959216.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:16.571Z,1628959216.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:16.969Z,1628959216.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:17.369Z,1628959217.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,002BD,186,80,80,B2,FF
2021-08-14T16:40:17.370Z,1628959217.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:17.430Z,1628959217.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:17.815Z,1628959217.815 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164018.39*5E

2021-08-14T16:40:17.879Z,1628959217.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 332.159940 deg, deltaT: 4.421703 s, approachRate: 0.013569 m/s, LOS rate: 7.881844 deg/s, posRepo size: 4
2021-08-14T16:40:17.886Z,1628959217.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 332.159940 deg,
      approachRate: 0.013569 m/s,
      LOS rate: 7.881844 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 314.404766 deg,
      new cmd heading: 313.733741 deg.

2021-08-14T16:40:20.261Z,1628959220.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:20.610Z,1628959220.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:20.610Z,1628959220.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:20.610Z,1628959220.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:20.611Z,1628959220.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:21.005Z,1628959221.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,002BD,186,80,80,B2,FF
2021-08-14T16:40:21.005Z,1628959221.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:21.005Z,1628959221.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:21.007Z,1628959221.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:21.418Z,1628959221.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:21.857Z,1628959221.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,002BE,188,80,80,6E,FF
2021-08-14T16:40:21.858Z,1628959221.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:21.951Z,1628959221.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:22.261Z,1628959222.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164022.83*56

2021-08-14T16:40:22.304Z,1628959222.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 26.495222 deg, deltaT: 4.521240 s, approachRate: 0.013271 m/s, LOS rate: 12.017785 deg/s, posRepo size: 4
2021-08-14T16:40:22.305Z,1628959222.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.017785 deg/s. Setting heading cmd to target bearing of 26.495222deg and heading rate command to 0 deg/s.
2021-08-14T16:40:24.675Z,1628959224.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:25.058Z,1628959225.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:25.058Z,1628959225.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:25.058Z,1628959225.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:25.059Z,1628959225.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:25.453Z,1628959225.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,002BE,188,80,80,6E,FF
2021-08-14T16:40:25.453Z,1628959225.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:25.453Z,1628959225.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:25.455Z,1628959225.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:25.868Z,1628959225.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:26.257Z,1628959226.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,002C0,186,80,80,5C,FF
2021-08-14T16:40:26.257Z,1628959226.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:26.306Z,1628959226.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:26.709Z,1628959226.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164027.28*52

2021-08-14T16:40:26.739Z,1628959226.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 346.172675 deg, deltaT: 4.354959 s, approachRate: 0.027555 m/s, LOS rate: -9.258998 deg/s, posRepo size: 4
2021-08-14T16:40:26.762Z,1628959226.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.74 m.
2021-08-14T16:40:26.769Z,1628959226.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 346.172675 deg,
      approachRate: 0.027555 m/s,
      LOS rate: -9.258998 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 26.495222 deg,
      new cmd heading: 26.495222 deg.

2021-08-14T16:40:29.225Z,1628959229.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:29.493Z,1628959229.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:29.493Z,1628959229.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:29.494Z,1628959229.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:29.495Z,1628959229.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:29.893Z,1628959229.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,002C0,186,80,80,5C,FF
2021-08-14T16:40:29.893Z,1628959229.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:29.893Z,1628959229.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:29.895Z,1628959229.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:30.309Z,1628959230.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:30.701Z,1628959230.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,002BE,186,80,80,90,FF
2021-08-14T16:40:30.702Z,1628959230.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:30.786Z,1628959230.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:40:31.140Z,1628959231.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164031.72*5A

2021-08-14T16:40:31.233Z,1628959231.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 10.761866 deg, deltaT: 4.481089 s, approachRate: -0.026779 m/s, LOS rate: 5.487324 deg/s, posRepo size: 4
2021-08-14T16:40:31.233Z,1628959231.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.62 m. Cable present.
2021-08-14T16:40:31.233Z,1628959231.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T16:40:31.234Z,1628959231.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T16:40:31.234Z,1628959231.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-14T16:40:31.522Z,1628959231.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-14T16:40:31.522Z,1628959231.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-14T16:40:31.522Z,1628959231.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-14T16:40:31.967Z,1628959231.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-14T16:40:31.968Z,1628959231.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:40:31.969Z,1628959231.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T16:40:31.969Z,1628959231.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:40:31.969Z,1628959231.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T16:40:31.969Z,1628959231.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T16:40:31.969Z,1628959231.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T16:40:31.969Z,1628959231.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:40:32.329Z,1628959232.329 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T16:40:32.329Z,1628959232.329 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T16:40:32.329Z,1628959232.329 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T16:40:32.329Z,1628959232.329 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T16:40:32.329Z,1628959232.329 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T16:40:32.330Z,1628959232.330 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:40:32.330Z,1628959232.330 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T16:40:32.330Z,1628959232.330 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-14T16:40:32.330Z,1628959232.330 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T16:40:32.331Z,1628959232.331 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T16:40:32.331Z,1628959232.331 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T16:40:32.331Z,1628959232.331 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T16:40:32.331Z,1628959232.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T16:40:32.331Z,1628959232.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:40:32.331Z,1628959232.331 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-14T16:40:32.331Z,1628959232.331 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-14T16:40:32.729Z,1628959232.729 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-14T16:40:32.729Z,1628959232.729 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T16:40:33.549Z,1628959233.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:33.903Z,1628959233.903 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:33.903Z,1628959233.903 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:33.903Z,1628959233.903 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:33.904Z,1628959233.904 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:34.305Z,1628959234.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,002BE,186,80,80,90,FF
2021-08-14T16:40:34.305Z,1628959234.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:34.306Z,1628959234.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:34.307Z,1628959234.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:34.713Z,1628959234.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:35.121Z,1628959235.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,002BF,186,80,80,7A,FF
2021-08-14T16:40:35.122Z,1628959235.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:35.537Z,1628959235.537 [Micromodem](INFO): Nmea in: $SNTTA,0.068957,,,,164036.13*41

2021-08-14T16:40:35.973Z,1628959235.973 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-14T16:40:35.973Z,1628959235.973 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-14T16:40:35.973Z,1628959235.973 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T16:40:35.973Z,1628959235.973 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-14T16:40:36.354Z,1628959236.354 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-14T16:40:36.354Z,1628959236.354 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T16:40:36.373Z,1628959236.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T16:40:36.374Z,1628959236.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T16:40:36.774Z,1628959236.774 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-14T16:40:36.774Z,1628959236.774 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T16:40:36.774Z,1628959236.774 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T16:40:36.775Z,1628959236.775 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-14T16:40:37.239Z,1628959237.239 [lineCaptureDepth:Lap:C] Stopped
2021-08-14T16:40:37.239Z,1628959237.239 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-14T16:40:37.573Z,1628959237.573 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-14T16:40:37.573Z,1628959237.573 [lineCaptureDepth:Lap:D] Stopped
2021-08-14T16:40:37.573Z,1628959237.573 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-14T16:40:37.574Z,1628959237.574 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-14T16:40:37.574Z,1628959237.574 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-14T16:40:37.975Z,1628959237.975 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-14T16:40:37.975Z,1628959237.975 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-14T16:40:37.975Z,1628959237.975 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-14T16:40:37.975Z,1628959237.975 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-14T16:40:37.975Z,1628959237.975 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T16:40:37.976Z,1628959237.976 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-14T16:40:37.976Z,1628959237.976 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-14T16:40:37.977Z,1628959237.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:38.345Z,1628959238.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:38.345Z,1628959238.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:38.345Z,1628959238.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:38.346Z,1628959238.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:38.760Z,1628959238.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,002BF,186,80,80,7A,FF
2021-08-14T16:40:38.760Z,1628959238.760 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:38.761Z,1628959238.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:38.762Z,1628959238.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:39.304Z,1628959239.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:39.610Z,1628959239.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,002C0,184,80,80,76,FF
2021-08-14T16:40:39.611Z,1628959239.611 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:40.026Z,1628959240.026 [Micromodem](INFO): Nmea in: $SNTTA,0.026340,,,,164040.59*48

2021-08-14T16:40:42.442Z,1628959242.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:42.849Z,1628959242.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:42.849Z,1628959242.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:42.849Z,1628959242.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:42.850Z,1628959242.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:43.241Z,1628959243.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,002C0,184,80,80,76,FF
2021-08-14T16:40:43.241Z,1628959243.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:43.241Z,1628959243.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:43.243Z,1628959243.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:43.635Z,1628959243.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:44.041Z,1628959244.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,002C1,186,80,80,7B,FF
2021-08-14T16:40:44.041Z,1628959244.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:44.465Z,1628959244.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164045.06*5A

2021-08-14T16:40:46.065Z,1628959246.065 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:40:46.906Z,1628959246.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:47.265Z,1628959247.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:47.265Z,1628959247.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:47.265Z,1628959247.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:47.266Z,1628959247.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:47.685Z,1628959247.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,002C1,186,80,80,7B,FF
2021-08-14T16:40:47.685Z,1628959247.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:47.685Z,1628959247.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:47.687Z,1628959247.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:48.105Z,1628959248.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:48.477Z,1628959248.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,410,000,002C0,189,80,80,70,FF
2021-08-14T16:40:48.478Z,1628959248.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:48.913Z,1628959248.913 [Micromodem](INFO): Nmea in: $SNTTA,0.030370,,,,164049.51*4D

2021-08-14T16:40:51.309Z,1628959251.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:51.780Z,1628959251.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:51.781Z,1628959251.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:51.782Z,1628959251.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:51.783Z,1628959251.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:52.125Z,1628959252.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
410,000,002C0,189,80,80,70,FF
2021-08-14T16:40:52.125Z,1628959252.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:52.125Z,1628959252.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:52.127Z,1628959252.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:52.525Z,1628959252.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:52.921Z,1628959252.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,002C2,187,80,80,A9,FF
2021-08-14T16:40:52.921Z,1628959252.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:53.362Z,1628959253.362 [Micromodem](INFO): Nmea in: $SNTTA,0.023621,,,,164053.95*4D

2021-08-14T16:40:55.812Z,1628959255.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:40:56.168Z,1628959256.168 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:40:56.168Z,1628959256.168 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:40:56.169Z,1628959256.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:40:56.169Z,1628959256.169 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:40:56.557Z,1628959256.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,002C2,187,80,80,A9,FF
2021-08-14T16:40:56.557Z,1628959256.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:40:56.557Z,1628959256.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:40:56.559Z,1628959256.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:40:56.965Z,1628959256.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:40:57.374Z,1628959257.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,002C2,189,80,80,81,FF
2021-08-14T16:40:57.374Z,1628959257.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:40:57.825Z,1628959257.825 [Micromodem](INFO): Nmea in: $SNTTA,0.127460,,,,164058.38*43

2021-08-14T16:41:00.175Z,1628959260.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:00.605Z,1628959260.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:00.605Z,1628959260.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:00.606Z,1628959260.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:00.607Z,1628959260.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:00.970Z,1628959260.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,002C2,189,80,80,81,FF
2021-08-14T16:41:00.971Z,1628959260.971 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:00.971Z,1628959260.971 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:00.975Z,1628959260.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:01.381Z,1628959261.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:01.893Z,1628959261.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,002C2,186,80,80,82,FF
2021-08-14T16:41:01.894Z,1628959261.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:02.243Z,1628959262.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164102.80*56

2021-08-14T16:41:04.659Z,1628959264.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:05.041Z,1628959265.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:05.041Z,1628959265.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:05.041Z,1628959265.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:05.042Z,1628959265.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:05.449Z,1628959265.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,002C2,186,80,80,82,FF
2021-08-14T16:41:05.449Z,1628959265.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:05.449Z,1628959265.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:05.451Z,1628959265.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:05.867Z,1628959265.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:06.253Z,1628959266.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,002C0,187,80,80,75,FF
2021-08-14T16:41:06.253Z,1628959266.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:06.694Z,1628959266.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164107.28*51

2021-08-14T16:41:09.121Z,1628959269.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:09.485Z,1628959269.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:09.485Z,1628959269.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:09.485Z,1628959269.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:09.486Z,1628959269.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:09.897Z,1628959269.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,002C0,187,80,80,75,FF
2021-08-14T16:41:09.897Z,1628959269.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:09.897Z,1628959269.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:09.899Z,1628959269.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:10.269Z,1628959270.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:10.777Z,1628959270.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,002C1,187,80,80,83,FF
2021-08-14T16:41:10.778Z,1628959270.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:11.109Z,1628959271.109 [Micromodem](INFO): Nmea in: $SNTTA,0.031687,,,,164111.72*4C

2021-08-14T16:41:13.569Z,1628959273.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:13.929Z,1628959273.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:13.929Z,1628959273.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:13.929Z,1628959273.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:13.930Z,1628959273.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:14.333Z,1628959274.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,002C1,187,80,80,83,FF
2021-08-14T16:41:14.333Z,1628959274.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:14.333Z,1628959274.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:14.335Z,1628959274.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:14.745Z,1628959274.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:15.152Z,1628959275.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,002C2,18A,80,80,81,FF
2021-08-14T16:41:15.154Z,1628959275.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:15.167Z,1628959275.167 [Micromodem](INFO): Nmea in: $SNTTA,0.312041,0.312041,,,164116.16*5C

2021-08-14T16:41:18.013Z,1628959278.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:18.377Z,1628959278.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:18.377Z,1628959278.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:18.377Z,1628959278.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:18.378Z,1628959278.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:18.801Z,1628959278.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,002C2,18A,80,80,81,FF
2021-08-14T16:41:18.801Z,1628959278.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:18.802Z,1628959278.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:18.813Z,1628959278.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:19.232Z,1628959279.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:19.598Z,1628959279.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,002C3,189,80,80,7B,FF
2021-08-14T16:41:19.598Z,1628959279.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:19.603Z,1628959279.603 [Micromodem](INFO): Nmea in: 164120,AUV,2.1.4000*2A

2021-08-14T16:41:19.603Z,1628959279.603 [Micromodem](ERROR): Response from modem failed NMEA checksum: 164120,AUV,2.1.4000*2A
 expected 0
2021-08-14T16:41:22.427Z,1628959282.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:22.865Z,1628959282.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:22.865Z,1628959282.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:22.865Z,1628959282.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:22.866Z,1628959282.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:23.237Z,1628959283.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,002C3,189,80,80,7B,FF
2021-08-14T16:41:23.237Z,1628959283.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:23.237Z,1628959283.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:23.239Z,1628959283.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:23.637Z,1628959283.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:24.025Z,1628959284.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,002C2,18A,80,80,84,FF
2021-08-14T16:41:24.026Z,1628959284.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:24.473Z,1628959284.473 [Micromodem](INFO): Nmea in: $SNTTA,0.036972,,,,164125.06*4A

2021-08-14T16:41:26.926Z,1628959286.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:27.266Z,1628959287.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:27.266Z,1628959287.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:27.266Z,1628959287.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:27.267Z,1628959287.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:27.670Z,1628959287.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,002C2,18A,80,80,84,FF
2021-08-14T16:41:27.670Z,1628959287.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:27.670Z,1628959287.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:27.673Z,1628959287.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:28.069Z,1628959288.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:28.478Z,1628959288.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,002C2,189,80,80,92,FF
2021-08-14T16:41:28.479Z,1628959288.479 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:28.901Z,1628959288.901 [Micromodem](INFO): Nmea in: $SNTTA,0.005355,,,,164129.50*4A

2021-08-14T16:41:31.300Z,1628959291.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:31.669Z,1628959291.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:31.669Z,1628959291.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:31.669Z,1628959291.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:31.670Z,1628959291.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:32.185Z,1628959292.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,002C2,189,80,80,92,FF
2021-08-14T16:41:32.185Z,1628959292.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:32.185Z,1628959292.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:32.187Z,1628959292.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:32.519Z,1628959292.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:32.917Z,1628959292.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,002C1,18A,80,80,77,FF
2021-08-14T16:41:32.917Z,1628959292.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:33.346Z,1628959293.346 [Micromodem](INFO): Nmea in: $SNTTA,0.044590,0.387008,,,164134.01*52

2021-08-14T16:41:35.816Z,1628959295.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:36.145Z,1628959296.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:36.145Z,1628959296.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:36.145Z,1628959296.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:36.146Z,1628959296.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:36.562Z,1628959296.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,002C1,18A,80,80,77,FF
2021-08-14T16:41:36.562Z,1628959296.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:36.562Z,1628959296.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:36.565Z,1628959296.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:36.973Z,1628959296.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:37.363Z,1628959297.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,002C2,186,80,80,6C,FF
2021-08-14T16:41:37.385Z,1628959297.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:37.797Z,1628959297.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164138.39*5D

2021-08-14T16:41:40.203Z,1628959300.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:40.561Z,1628959300.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:40.561Z,1628959300.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:40.562Z,1628959300.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:40.563Z,1628959300.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:40.997Z,1628959300.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,002C2,186,80,80,6C,FF
2021-08-14T16:41:40.997Z,1628959300.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:40.997Z,1628959300.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:40.999Z,1628959300.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:41.381Z,1628959301.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:41.775Z,1628959301.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,002BF,188,80,80,74,FF
2021-08-14T16:41:41.777Z,1628959301.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:44.647Z,1628959304.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:45.037Z,1628959305.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:45.037Z,1628959305.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:45.037Z,1628959305.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:45.038Z,1628959305.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:45.433Z,1628959305.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,002BF,188,80,80,74,FF
2021-08-14T16:41:45.434Z,1628959305.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:45.434Z,1628959305.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:45.435Z,1628959305.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:45.873Z,1628959305.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:46.246Z,1628959306.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,002E4,189,80,80,5A,FF
2021-08-14T16:41:46.246Z,1628959306.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:46.682Z,1628959306.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164147.26*5B

2021-08-14T16:41:49.106Z,1628959309.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:49.477Z,1628959309.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:49.477Z,1628959309.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:49.477Z,1628959309.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:49.478Z,1628959309.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:49.886Z,1628959309.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,002E4,189,80,80,5A,FF
2021-08-14T16:41:49.886Z,1628959309.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:49.886Z,1628959309.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:49.888Z,1628959309.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:50.294Z,1628959310.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:50.659Z,1628959310.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,002C3,186,80,80,78,FF
2021-08-14T16:41:50.659Z,1628959310.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:51.132Z,1628959311.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164151.71*5E

2021-08-14T16:41:53.210Z,1628959313.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:53.517Z,1628959313.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:53.517Z,1628959313.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:53.517Z,1628959313.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:53.518Z,1628959313.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:53.666Z,1628959313.666 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-14T16:41:53.898Z,1628959313.898 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:41:53.937Z,1628959313.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,002C3,186,80,80,78,FF
2021-08-14T16:41:53.937Z,1628959313.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:53.937Z,1628959313.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:53.939Z,1628959313.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:54.328Z,1628959314.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:54.734Z,1628959314.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6D,000,002C2,18A,80,80,81,FF
2021-08-14T16:41:54.734Z,1628959314.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:54.902Z,1628959314.902 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:41:55.185Z,1628959315.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164155.76*5D

2021-08-14T16:41:55.906Z,1628959315.906 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:41:56.910Z,1628959316.910 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:41:57.570Z,1628959317.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:41:57.914Z,1628959317.914 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:41:57.981Z,1628959317.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:41:57.981Z,1628959317.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:41:57.981Z,1628959317.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:41:57.982Z,1628959317.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:41:58.365Z,1628959318.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6D,000,002C2,18A,80,80,81,FF
2021-08-14T16:41:58.365Z,1628959318.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:41:58.365Z,1628959318.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:41:58.367Z,1628959318.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:41:58.807Z,1628959318.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:41:58.918Z,1628959318.918 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:41:59.210Z,1628959319.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D79,000,002C2,189,80,80,83,FF
2021-08-14T16:41:59.211Z,1628959319.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:41:59.598Z,1628959319.598 [Micromodem](INFO): Nmea in: $SNTTA,0.057806,0.338298,,,164200.19*50

2021-08-14T16:41:59.922Z,1628959319.922 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:42:00.927Z,1628959320.927 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:42:01.930Z,1628959321.930 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:42:02.037Z,1628959322.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:02.481Z,1628959322.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:02.481Z,1628959322.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:02.481Z,1628959322.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:02.482Z,1628959322.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:02.825Z,1628959322.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D79,000,002C2,189,80,80,83,FF
2021-08-14T16:42:02.825Z,1628959322.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:02.825Z,1628959322.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:02.827Z,1628959322.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:02.934Z,1628959322.934 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:42:03.247Z,1628959323.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:03.276Z,1628959323.276 [Micromodem](INFO): Nmea in: 0*7E

2021-08-14T16:42:03.277Z,1628959323.277 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0*7E
 expected 0
2021-08-14T16:42:03.618Z,1628959323.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,002C3,189,80,80,86,FF
2021-08-14T16:42:03.619Z,1628959323.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:03.938Z,1628959323.938 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T16:42:04.512Z,1628959324.512 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006089
CHAN A1 (24V): -0.023741
CHAN A2 (12V): -0.006005
CHAN A3 (5V): -0.001268
CHAN B0 (3.3V): 0.000811
CHAN B1 (3.15aV): 0.000375
CHAN B2 (3.15bV): 0.000305
CHAN B3 (GND): 0.002069
OPEN: 0.006703
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-14T16:42:06.463Z,1628959326.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:06.857Z,1628959326.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:06.857Z,1628959326.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:06.857Z,1628959326.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:06.858Z,1628959326.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:07.253Z,1628959327.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,002C3,189,80,80,86,FF
2021-08-14T16:42:07.253Z,1628959327.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:07.253Z,1628959327.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:07.255Z,1628959327.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:07.670Z,1628959327.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:08.061Z,1628959328.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,002C0,187,80,80,8A,FF
2021-08-14T16:42:08.061Z,1628959328.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:08.499Z,1628959328.499 [Micromodem](INFO): Nmea in: $SNTTA,0.026495,,,,164209.08*4C

2021-08-14T16:42:10.881Z,1628959330.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:11.293Z,1628959331.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:11.293Z,1628959331.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:11.293Z,1628959331.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:11.294Z,1628959331.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:11.697Z,1628959331.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,002C0,187,80,80,8A,FF
2021-08-14T16:42:11.697Z,1628959331.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:11.697Z,1628959331.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:11.702Z,1628959331.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:12.077Z,1628959332.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:12.574Z,1628959332.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,002BF,187,80,80,8B,FF
2021-08-14T16:42:12.574Z,1628959332.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:12.949Z,1628959332.949 [Micromodem](INFO): Nmea in: $SNTTA,0.024412,,,,164213.53*44

2021-08-14T16:42:15.371Z,1628959335.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:15.745Z,1628959335.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:15.745Z,1628959335.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:15.745Z,1628959335.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:15.746Z,1628959335.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:16.145Z,1628959336.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,002BF,187,80,80,8B,FF
2021-08-14T16:42:16.145Z,1628959336.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:16.145Z,1628959336.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:16.147Z,1628959336.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:16.553Z,1628959336.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:16.958Z,1628959336.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,002C3,186,80,80,81,FF
2021-08-14T16:42:16.958Z,1628959336.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:17.385Z,1628959337.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164217.97*57

2021-08-14T16:42:19.827Z,1628959339.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:20.181Z,1628959340.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:20.182Z,1628959340.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:20.182Z,1628959340.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:20.183Z,1628959340.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:20.593Z,1628959340.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,002C3,186,80,80,81,FF
2021-08-14T16:42:20.594Z,1628959340.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:20.594Z,1628959340.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:20.597Z,1628959340.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:20.970Z,1628959340.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:21.393Z,1628959341.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,002C3,186,80,80,91,FF
2021-08-14T16:42:21.394Z,1628959341.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:21.397Z,1628959341.397 [Micromodem](INFO): Nmea in: $SNTTA,0.024567,0.183078,,,164222.42*5E

2021-08-14T16:42:24.235Z,1628959344.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:24.626Z,1628959344.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:24.626Z,1628959344.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:24.626Z,1628959344.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:24.627Z,1628959344.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:25.041Z,1628959345.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,002C3,186,80,80,91,FF
2021-08-14T16:42:25.042Z,1628959345.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:25.042Z,1628959345.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:25.043Z,1628959345.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:25.444Z,1628959345.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:25.865Z,1628959345.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,002BF,186,80,80,8D,FF
2021-08-14T16:42:25.866Z,1628959345.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:26.265Z,1628959346.265 [Micromodem](INFO): Nmea in: $SNTTA,0.006762,,,,164226.87*4F

2021-08-14T16:42:28.694Z,1628959348.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:29.073Z,1628959349.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:29.073Z,1628959349.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:29.073Z,1628959349.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:29.074Z,1628959349.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:29.477Z,1628959349.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,002BF,186,80,80,8D,FF
2021-08-14T16:42:29.477Z,1628959349.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:29.477Z,1628959349.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:29.479Z,1628959349.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:29.889Z,1628959349.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:30.281Z,1628959350.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,002C1,189,80,80,67,FF
2021-08-14T16:42:30.282Z,1628959350.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:30.722Z,1628959350.722 [Micromodem](INFO): Nmea in: $SNTTA,0.036634,,,,164231.30*44

2021-08-14T16:42:33.209Z,1628959353.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:33.517Z,1628959353.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:33.517Z,1628959353.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:33.517Z,1628959353.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:33.518Z,1628959353.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:33.921Z,1628959353.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,002C1,189,80,80,67,FF
2021-08-14T16:42:33.921Z,1628959353.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:33.921Z,1628959353.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:33.923Z,1628959353.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:34.333Z,1628959354.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:34.725Z,1628959354.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EE,000,002C1,186,80,80,73,FF
2021-08-14T16:42:34.725Z,1628959354.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:35.187Z,1628959355.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164235.75*5B

2021-08-14T16:42:37.601Z,1628959357.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:37.957Z,1628959357.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:37.957Z,1628959357.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:37.957Z,1628959357.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:37.958Z,1628959357.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:38.369Z,1628959358.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EE,000,002C1,186,80,80,73,FF
2021-08-14T16:42:38.369Z,1628959358.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:38.369Z,1628959358.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:38.371Z,1628959358.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:38.769Z,1628959358.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:39.209Z,1628959359.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,002BF,189,80,80,9A,FF
2021-08-14T16:42:39.209Z,1628959359.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:39.606Z,1628959359.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164240.20*59

2021-08-14T16:42:42.007Z,1628959362.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:42.386Z,1628959362.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:42.387Z,1628959362.387 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:42.387Z,1628959362.387 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:42.388Z,1628959362.388 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:42.889Z,1628959362.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,002BF,189,80,80,9A,FF
2021-08-14T16:42:42.889Z,1628959362.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:42.890Z,1628959362.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:42.891Z,1628959362.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:43.248Z,1628959363.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:43.618Z,1628959363.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1C,000,002C3,187,80,80,81,FF
2021-08-14T16:42:43.618Z,1628959363.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:44.433Z,1628959364.433 [Micromodem](INFO): Nmea in: $SNTTA,0.006896,,,,164244.72*45

2021-08-14T16:42:46.488Z,1628959366.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:46.857Z,1628959366.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:46.857Z,1628959366.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:46.857Z,1628959366.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:46.858Z,1628959366.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:47.269Z,1628959367.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1C,000,002C3,187,80,80,81,FF
2021-08-14T16:42:47.269Z,1628959367.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:47.269Z,1628959367.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:47.271Z,1628959367.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:47.680Z,1628959367.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:48.077Z,1628959368.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,002BF,187,80,80,85,FF
2021-08-14T16:42:48.077Z,1628959368.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:48.489Z,1628959368.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164249.09*5B

2021-08-14T16:42:50.926Z,1628959370.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:51.270Z,1628959371.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:51.270Z,1628959371.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:51.270Z,1628959371.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:51.271Z,1628959371.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:51.697Z,1628959371.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,002BF,187,80,80,85,FF
2021-08-14T16:42:51.697Z,1628959371.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:51.697Z,1628959371.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:51.699Z,1628959371.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:52.082Z,1628959372.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:52.474Z,1628959372.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33A,000,002BE,189,80,80,70,FF
2021-08-14T16:42:52.474Z,1628959372.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:53.009Z,1628959373.009 [Micromodem](INFO): Nmea in: $SNTTA,0.022525,,,,164253.52*42

2021-08-14T16:42:55.389Z,1628959375.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:42:55.737Z,1628959375.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:42:55.737Z,1628959375.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:42:55.737Z,1628959375.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:42:55.738Z,1628959375.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:42:56.158Z,1628959376.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33A,000,002BE,189,80,80,70,FF
2021-08-14T16:42:56.158Z,1628959376.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:42:56.158Z,1628959376.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:42:56.161Z,1628959376.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:42:56.538Z,1628959376.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:42:56.990Z,1628959376.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,002BE,186,80,80,80,FF
2021-08-14T16:42:56.990Z,1628959376.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:42:57.381Z,1628959377.381 [Micromodem](INFO): Nmea in: $SNTTA,,0.399914,,,164257.99*4C

2021-08-14T16:42:59.831Z,1628959379.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:00.190Z,1628959380.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:00.190Z,1628959380.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:00.190Z,1628959380.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:00.194Z,1628959380.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:00.585Z,1628959380.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,002BE,186,80,80,80,FF
2021-08-14T16:43:00.585Z,1628959380.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:00.585Z,1628959380.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:00.587Z,1628959380.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:01.002Z,1628959381.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:01.365Z,1628959381.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,002BE,186,80,80,6F,FF
2021-08-14T16:43:01.366Z,1628959381.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:01.842Z,1628959381.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164302.41*59

2021-08-14T16:43:04.235Z,1628959384.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:04.618Z,1628959384.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:04.618Z,1628959384.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:04.618Z,1628959384.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:04.619Z,1628959384.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:05.033Z,1628959385.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,002BE,186,80,80,6F,FF
2021-08-14T16:43:05.034Z,1628959385.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:05.034Z,1628959385.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:05.035Z,1628959385.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:05.454Z,1628959385.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:05.853Z,1628959385.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,002C0,189,80,80,6C,FF
2021-08-14T16:43:05.853Z,1628959385.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:06.282Z,1628959386.282 [Micromodem](INFO): Nmea in: $SNTTA,0.032523,,,,164306.86*4D

2021-08-14T16:43:08.700Z,1628959388.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:09.077Z,1628959389.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:09.077Z,1628959389.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:09.077Z,1628959389.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:09.078Z,1628959389.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:09.481Z,1628959389.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,002C0,189,80,80,6C,FF
2021-08-14T16:43:09.481Z,1628959389.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:09.481Z,1628959389.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:09.483Z,1628959389.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:09.900Z,1628959389.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:10.297Z,1628959390.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA6,000,002BF,18A,80,80,7D,FF
2021-08-14T16:43:10.298Z,1628959390.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:10.730Z,1628959390.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164311.31*5C

2021-08-14T16:43:13.224Z,1628959393.224 [DDM](ERROR): Could not parse latch state
2021-08-14T16:43:13.351Z,1628959393.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:13.521Z,1628959393.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:13.521Z,1628959393.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:13.521Z,1628959393.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:13.522Z,1628959393.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:13.929Z,1628959393.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA6,000,002BF,18A,80,80,7D,FF
2021-08-14T16:43:13.929Z,1628959393.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:13.929Z,1628959393.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:13.931Z,1628959393.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:14.332Z,1628959394.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:14.737Z,1628959394.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,002C3,187,80,80,83,FF
2021-08-14T16:43:14.737Z,1628959394.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:15.195Z,1628959395.195 [Micromodem](INFO): Nmea in: $SNTTA,0.043630,,,,164315.76*47

2021-08-14T16:43:17.574Z,1628959397.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:17.965Z,1628959397.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:17.965Z,1628959397.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:17.965Z,1628959397.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:17.966Z,1628959397.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:18.373Z,1628959398.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,002C3,187,80,80,83,FF
2021-08-14T16:43:18.373Z,1628959398.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:18.373Z,1628959398.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:18.375Z,1628959398.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:18.804Z,1628959398.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:19.213Z,1628959399.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D85,000,002C2,189,80,80,7C,FF
2021-08-14T16:43:19.214Z,1628959399.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:19.610Z,1628959399.610 [Micromodem](INFO): Nmea in: $SNTTA,0.047298,,,,164320.20*40

2021-08-14T16:43:22.046Z,1628959402.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:22.381Z,1628959402.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:22.381Z,1628959402.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:22.381Z,1628959402.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:22.382Z,1628959402.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:22.815Z,1628959402.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D85,000,002C2,189,80,80,7C,FF
2021-08-14T16:43:22.815Z,1628959402.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:22.815Z,1628959402.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:22.817Z,1628959402.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:23.313Z,1628959403.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:23.626Z,1628959403.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,002C2,188,80,80,84,FF
2021-08-14T16:43:23.626Z,1628959403.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:24.049Z,1628959404.049 [Micromodem](INFO): Nmea in: $SNTTA,0.110889,,,,164324.64*4D

2021-08-14T16:43:26.467Z,1628959406.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:26.865Z,1628959406.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:26.865Z,1628959406.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:26.865Z,1628959406.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:26.866Z,1628959406.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:27.265Z,1628959407.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,002C2,188,80,80,84,FF
2021-08-14T16:43:27.266Z,1628959407.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:27.266Z,1628959407.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:27.267Z,1628959407.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:27.672Z,1628959407.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:28.073Z,1628959408.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E07,000,002C2,187,80,80,76,FF
2021-08-14T16:43:28.073Z,1628959408.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:28.501Z,1628959408.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164329.10*54

2021-08-14T16:43:30.932Z,1628959410.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:31.297Z,1628959411.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:31.297Z,1628959411.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:31.297Z,1628959411.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:31.298Z,1628959411.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:31.670Z,1628959411.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E07,000,002C2,187,80,80,76,FF
2021-08-14T16:43:31.670Z,1628959411.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:31.670Z,1628959411.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:31.672Z,1628959411.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:32.113Z,1628959412.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:32.482Z,1628959412.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,002C3,187,80,80,78,FF
2021-08-14T16:43:32.482Z,1628959412.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:32.916Z,1628959412.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164333.50*5B

2021-08-14T16:43:35.387Z,1628959415.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:35.741Z,1628959415.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:35.742Z,1628959415.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:35.742Z,1628959415.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:35.743Z,1628959415.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:36.141Z,1628959416.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,002C3,187,80,80,78,FF
2021-08-14T16:43:36.141Z,1628959416.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:36.141Z,1628959416.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:36.143Z,1628959416.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:36.553Z,1628959416.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:36.958Z,1628959416.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,002C0,189,80,80,7D,FF
2021-08-14T16:43:36.958Z,1628959416.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:37.405Z,1628959417.405 [Micromodem](INFO): Nmea in: $SNTTA,0.081421,,,,164337.97*44

2021-08-14T16:43:39.837Z,1628959419.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:40.189Z,1628959420.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:40.189Z,1628959420.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:40.189Z,1628959420.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:40.190Z,1628959420.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:40.606Z,1628959420.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,002C0,189,80,80,7D,FF
2021-08-14T16:43:40.606Z,1628959420.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:40.606Z,1628959420.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:40.609Z,1628959420.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:41.013Z,1628959421.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:41.401Z,1628959421.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,383,000,002BE,18A,80,80,52,FF
2021-08-14T16:43:41.401Z,1628959421.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:41.821Z,1628959421.821 [Micromodem](INFO): Nmea in: $SNTTA,0.002816,,,,164342.43*4C

2021-08-14T16:43:44.259Z,1628959424.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:44.637Z,1628959424.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:44.637Z,1628959424.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:44.637Z,1628959424.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:44.638Z,1628959424.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:45.037Z,1628959425.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
383,000,002BE,18A,80,80,52,FF
2021-08-14T16:43:45.037Z,1628959425.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:45.037Z,1628959425.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:45.039Z,1628959425.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:45.453Z,1628959425.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:45.865Z,1628959425.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B8,000,002C5,189,80,80,6D,FF
2021-08-14T16:43:45.865Z,1628959425.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:46.282Z,1628959426.282 [Micromodem](INFO): Nmea in: $SNTTA,0.073696,,,,164346.86*41

2021-08-14T16:43:48.692Z,1628959428.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:49.092Z,1628959429.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:49.092Z,1628959429.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:49.092Z,1628959429.092 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:49.093Z,1628959429.093 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:49.489Z,1628959429.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B8,000,002C5,189,80,80,6D,FF
2021-08-14T16:43:49.489Z,1628959429.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:49.489Z,1628959429.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:49.491Z,1628959429.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:49.900Z,1628959429.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:50.289Z,1628959430.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,002C2,186,80,80,68,FF
2021-08-14T16:43:50.289Z,1628959430.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:50.734Z,1628959430.734 [Micromodem](INFO): Nmea in: $SNTTA,0.035929,,,,164351.32*41

2021-08-14T16:43:53.116Z,1628959433.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:53.602Z,1628959433.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:53.602Z,1628959433.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:53.603Z,1628959433.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:53.603Z,1628959433.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:53.921Z,1628959433.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,002C2,186,80,80,68,FF
2021-08-14T16:43:53.922Z,1628959433.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:53.922Z,1628959433.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:53.924Z,1628959433.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:54.333Z,1628959434.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:54.738Z,1628959434.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,002C1,186,80,80,63,FF
2021-08-14T16:43:54.738Z,1628959434.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:55.172Z,1628959435.172 [Micromodem](INFO): Nmea in: $SNTTA,0.043651,,,,164355.75*47

2021-08-14T16:43:57.601Z,1628959437.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:43:57.969Z,1628959437.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:43:57.969Z,1628959437.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:43:57.969Z,1628959437.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:43:57.970Z,1628959437.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:43:58.369Z,1628959438.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,002C1,186,80,80,63,FF
2021-08-14T16:43:58.369Z,1628959438.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:43:58.370Z,1628959438.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:43:58.371Z,1628959438.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:43:58.811Z,1628959438.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:43:59.221Z,1628959439.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,002C2,186,80,80,72,FF
2021-08-14T16:43:59.221Z,1628959439.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:43:59.630Z,1628959439.630 [Micromodem](INFO): Nmea in: $SNTTA,0.021746,,,,164400.20*43

2021-08-14T16:44:02.002Z,1628959442.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:02.417Z,1628959442.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:02.417Z,1628959442.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:02.417Z,1628959442.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:02.418Z,1628959442.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:02.814Z,1628959442.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,002C2,186,80,80,72,FF
2021-08-14T16:44:02.814Z,1628959442.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:02.814Z,1628959442.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:02.816Z,1628959442.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:03.206Z,1628959443.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:03.235Z,1628959443.235 [Micromodem](INFO): Nmea in: $SNTTA,0.112513,0.112282,,,164404.64*50

2021-08-14T16:44:03.698Z,1628959443.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,002C1,187,80,80,7F,FF
2021-08-14T16:44:03.698Z,1628959443.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:06.478Z,1628959446.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:06.861Z,1628959446.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:06.862Z,1628959446.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:06.862Z,1628959446.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:06.863Z,1628959446.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:07.257Z,1628959447.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,002C1,187,80,80,7F,FF
2021-08-14T16:44:07.257Z,1628959447.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:07.257Z,1628959447.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:07.259Z,1628959447.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:07.677Z,1628959447.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:08.069Z,1628959448.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,002C1,185,80,80,82,FF
2021-08-14T16:44:08.069Z,1628959448.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:08.521Z,1628959448.521 [Micromodem](INFO): Nmea in: $SNTTA,0.006637,,,,164409.09*43

2021-08-14T16:44:10.931Z,1628959450.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:11.297Z,1628959451.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:11.297Z,1628959451.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:11.297Z,1628959451.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:11.298Z,1628959451.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:11.709Z,1628959451.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,002C1,185,80,80,82,FF
2021-08-14T16:44:11.709Z,1628959451.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:11.709Z,1628959451.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:11.711Z,1628959451.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:12.084Z,1628959452.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:12.529Z,1628959452.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,002C2,186,80,80,76,FF
2021-08-14T16:44:12.530Z,1628959452.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:12.917Z,1628959452.917 [Micromodem](INFO): Nmea in: $SNTTA,0.002875,,,,164413.54*4C

2021-08-14T16:44:15.387Z,1628959455.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:15.750Z,1628959455.750 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:15.750Z,1628959455.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:15.750Z,1628959455.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:15.751Z,1628959455.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:16.149Z,1628959456.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,002C2,186,80,80,76,FF
2021-08-14T16:44:16.149Z,1628959456.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:16.149Z,1628959456.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:16.151Z,1628959456.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:16.577Z,1628959456.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:16.953Z,1628959456.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,002C2,186,80,80,6B,FF
2021-08-14T16:44:16.954Z,1628959456.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:17.402Z,1628959457.402 [Micromodem](INFO): Nmea in: $SNTTA,0.006741,,,,164417.98*44

2021-08-14T16:44:19.849Z,1628959459.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:20.185Z,1628959460.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:20.185Z,1628959460.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:20.185Z,1628959460.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:20.186Z,1628959460.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:20.594Z,1628959460.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,002C2,186,80,80,6B,FF
2021-08-14T16:44:20.594Z,1628959460.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:20.594Z,1628959460.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:20.597Z,1628959460.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:21.007Z,1628959461.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:21.406Z,1628959461.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,002C3,187,80,80,76,FF
2021-08-14T16:44:21.407Z,1628959461.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:21.853Z,1628959461.853 [Micromodem](INFO): Nmea in: $SNTTA,0.006690,,,,164422.42*48

2021-08-14T16:44:24.247Z,1628959464.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:24.634Z,1628959464.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:24.634Z,1628959464.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:24.635Z,1628959464.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:24.635Z,1628959464.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:25.033Z,1628959465.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,002C3,187,80,80,76,FF
2021-08-14T16:44:25.033Z,1628959465.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:25.033Z,1628959465.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:25.035Z,1628959465.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:25.442Z,1628959465.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:25.857Z,1628959465.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,002C3,187,80,80,78,FF
2021-08-14T16:44:25.857Z,1628959465.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:26.277Z,1628959466.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164426.86*53

2021-08-14T16:44:28.683Z,1628959468.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:29.073Z,1628959469.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:29.073Z,1628959469.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:29.073Z,1628959469.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:29.074Z,1628959469.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:29.477Z,1628959469.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,002C3,187,80,80,78,FF
2021-08-14T16:44:29.477Z,1628959469.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:29.477Z,1628959469.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:29.479Z,1628959469.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:29.896Z,1628959469.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:30.281Z,1628959470.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,002C1,186,80,80,7F,FF
2021-08-14T16:44:30.282Z,1628959470.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:30.730Z,1628959470.730 [Micromodem](INFO): Nmea in: $SNTTA,0.002854,,,,164431.30*4D

2021-08-14T16:44:33.117Z,1628959473.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:33.501Z,1628959473.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:33.501Z,1628959473.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:33.501Z,1628959473.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:33.502Z,1628959473.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:34.001Z,1628959474.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,002C1,186,80,80,7F,FF
2021-08-14T16:44:34.001Z,1628959474.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:34.001Z,1628959474.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:34.003Z,1628959474.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:34.334Z,1628959474.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:34.729Z,1628959474.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,002BF,189,80,80,70,FF
2021-08-14T16:44:34.729Z,1628959474.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:35.561Z,1628959475.561 [Micromodem](INFO): Nmea in: $SNTTA,0.030533,,,,164435.83*4C

2021-08-14T16:44:37.586Z,1628959477.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:37.961Z,1628959477.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:37.961Z,1628959477.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:37.961Z,1628959477.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:37.962Z,1628959477.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:38.373Z,1628959478.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,002BF,189,80,80,70,FF
2021-08-14T16:44:38.373Z,1628959478.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:38.374Z,1628959478.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:38.375Z,1628959478.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:38.788Z,1628959478.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:39.221Z,1628959479.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,002C1,188,80,80,73,FF
2021-08-14T16:44:39.222Z,1628959479.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:39.248Z,1628959479.248 [Micromodem](INFO): Nmea in: $SNTTA,0.006976,0.290538,,,164440.20*54

2021-08-14T16:44:42.030Z,1628959482.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:42.381Z,1628959482.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:42.381Z,1628959482.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:42.381Z,1628959482.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:42.382Z,1628959482.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:42.834Z,1628959482.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,002C1,188,80,80,73,FF
2021-08-14T16:44:42.834Z,1628959482.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:42.834Z,1628959482.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:42.836Z,1628959482.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:43.204Z,1628959483.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:43.594Z,1628959483.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,002C2,18A,80,80,75,FF
2021-08-14T16:44:43.594Z,1628959483.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:44.105Z,1628959484.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164444.66*59

2021-08-14T16:44:46.470Z,1628959486.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:46.857Z,1628959486.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:46.857Z,1628959486.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:46.857Z,1628959486.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:46.858Z,1628959486.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:47.257Z,1628959487.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,002C2,18A,80,80,75,FF
2021-08-14T16:44:47.257Z,1628959487.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:47.257Z,1628959487.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:47.259Z,1628959487.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:47.682Z,1628959487.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:48.061Z,1628959488.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,002C2,189,80,80,79,FF
2021-08-14T16:44:48.061Z,1628959488.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:48.506Z,1628959488.506 [Micromodem](INFO): Nmea in: $SNTTA,0.059999,,,,164449.08*47

2021-08-14T16:44:50.929Z,1628959490.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:51.293Z,1628959491.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:51.293Z,1628959491.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:51.293Z,1628959491.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:51.294Z,1628959491.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:51.696Z,1628959491.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,002C2,189,80,80,79,FF
2021-08-14T16:44:51.697Z,1628959491.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:51.697Z,1628959491.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:51.698Z,1628959491.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:52.142Z,1628959492.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:52.477Z,1628959492.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,002C1,188,80,80,7F,FF
2021-08-14T16:44:52.478Z,1628959492.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:52.937Z,1628959492.937 [Micromodem](INFO): Nmea in: $SNTTA,0.034787,,,,164453.52*49

2021-08-14T16:44:55.367Z,1628959495.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:44:55.743Z,1628959495.743 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:44:55.743Z,1628959495.743 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:44:55.744Z,1628959495.744 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:44:55.752Z,1628959495.752 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:44:56.145Z,1628959496.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,002C1,188,80,80,7F,FF
2021-08-14T16:44:56.145Z,1628959496.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:44:56.145Z,1628959496.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:44:56.147Z,1628959496.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:44:56.549Z,1628959496.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:44:56.949Z,1628959496.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,002C2,187,80,80,7E,FF
2021-08-14T16:44:56.949Z,1628959496.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:44:57.392Z,1628959497.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164457.97*55

2021-08-14T16:44:59.846Z,1628959499.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:00.181Z,1628959500.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:00.181Z,1628959500.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:00.181Z,1628959500.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:00.182Z,1628959500.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:00.589Z,1628959500.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,002C2,187,80,80,7E,FF
2021-08-14T16:45:00.589Z,1628959500.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:00.589Z,1628959500.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:00.591Z,1628959500.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:00.989Z,1628959500.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:01.401Z,1628959501.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,002C3,188,80,80,7D,FF
2021-08-14T16:45:01.401Z,1628959501.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:01.405Z,1628959501.405 [Micromodem](INFO): Nmea in: $SNTTA,0.181828,0.181790,,,164502.42*50

2021-08-14T16:45:04.311Z,1628959504.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:04.626Z,1628959504.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:04.626Z,1628959504.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:04.626Z,1628959504.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:04.627Z,1628959504.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:05.037Z,1628959505.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,002C3,188,80,80,7D,FF
2021-08-14T16:45:05.037Z,1628959505.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:05.037Z,1628959505.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:05.039Z,1628959505.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:05.437Z,1628959505.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:05.858Z,1628959505.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,002C3,186,80,80,79,FF
2021-08-14T16:45:05.858Z,1628959505.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:06.277Z,1628959506.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164506.87*51

2021-08-14T16:45:08.683Z,1628959508.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:09.069Z,1628959509.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:09.069Z,1628959509.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:09.069Z,1628959509.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:09.070Z,1628959509.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:09.473Z,1628959509.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,002C3,186,80,80,79,FF
2021-08-14T16:45:09.473Z,1628959509.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:09.473Z,1628959509.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:09.475Z,1628959509.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:09.881Z,1628959509.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:10.277Z,1628959510.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDC,000,002C1,188,80,80,81,FF
2021-08-14T16:45:10.278Z,1628959510.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:10.730Z,1628959510.730 [Micromodem](INFO): Nmea in: $SNTTA,0.128531,,,,164511.30*49

2021-08-14T16:45:13.200Z,1628959513.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:13.481Z,1628959513.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:13.481Z,1628959513.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:13.481Z,1628959513.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:13.482Z,1628959513.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:13.888Z,1628959513.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDC,000,002C1,188,80,80,81,FF
2021-08-14T16:45:13.888Z,1628959513.888 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:13.889Z,1628959513.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:13.892Z,1628959513.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:14.005Z,1628959514.005 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T16:45:14.005Z,1628959514.005 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:45:14.005Z,1628959514.005 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T16:45:14.005Z,1628959514.005 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:45:14.005Z,1628959514.005 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T16:45:14.006Z,1628959514.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 
2021-08-14T16:45:14.006Z,1628959514.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T16:45:14.006Z,1628959514.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T16:45:14.006Z,1628959514.006 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T16:45:14.408Z,1628959514.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:14.439Z,1628959514.439 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T164514: (41.552319, -70.708603)
2021-08-14T16:45:14.439Z,1628959514.439 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T16:45:14.439Z,1628959514.439 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T16:45:14.439Z,1628959514.439 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:45:14.439Z,1628959514.439 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T16:45:14.440Z,1628959514.440 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:45:14.440Z,1628959514.440 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T16:45:14.441Z,1628959514.441 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T16:45:14.441Z,1628959514.441 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:45:14.729Z,1628959514.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,002C7,186,80,80,61,FF
2021-08-14T16:45:14.730Z,1628959514.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:15.169Z,1628959515.169 [Micromodem](INFO): Nmea in: $SNTTA,0.168444,,,,164515.72*4C

2021-08-14T16:45:17.571Z,1628959517.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:17.961Z,1628959517.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:17.961Z,1628959517.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:17.961Z,1628959517.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:17.962Z,1628959517.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:18.365Z,1628959518.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,002C7,186,80,80,61,FF
2021-08-14T16:45:18.365Z,1628959518.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:18.365Z,1628959518.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:18.367Z,1628959518.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:18.765Z,1628959518.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:19.213Z,1628959519.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,002C0,188,80,80,71,FF
2021-08-14T16:45:19.213Z,1628959519.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:19.217Z,1628959519.217 [Micromodem](INFO): Nmea in: $SNTTA,0.046205,0.296269,,,164520.19*57

2021-08-14T16:45:22.037Z,1628959522.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:22.405Z,1628959522.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:22.405Z,1628959522.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:22.405Z,1628959522.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:22.406Z,1628959522.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:22.813Z,1628959522.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,002C0,188,80,80,71,FF
2021-08-14T16:45:22.813Z,1628959522.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:22.813Z,1628959522.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:22.815Z,1628959522.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:23.237Z,1628959523.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:23.598Z,1628959523.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,002C2,187,80,80,78,FF
2021-08-14T16:45:23.599Z,1628959523.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:24.033Z,1628959524.033 [Micromodem](INFO): Nmea in: $SNTTA,0.024135,,,,164524.64*43

2021-08-14T16:45:26.478Z,1628959526.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:26.865Z,1628959526.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:26.865Z,1628959526.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:26.865Z,1628959526.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:26.866Z,1628959526.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:27.261Z,1628959527.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,002C2,187,80,80,78,FF
2021-08-14T16:45:27.261Z,1628959527.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:27.261Z,1628959527.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:27.263Z,1628959527.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:27.673Z,1628959527.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:28.065Z,1628959528.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,002C2,187,80,80,7D,FF
2021-08-14T16:45:28.065Z,1628959528.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:28.498Z,1628959528.498 [Micromodem](INFO): Nmea in: $SNTTA,0.027798,,,,164529.09*47

2021-08-14T16:45:30.920Z,1628959530.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:31.301Z,1628959531.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:31.301Z,1628959531.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:31.301Z,1628959531.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:31.302Z,1628959531.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:31.697Z,1628959531.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,002C2,187,80,80,7D,FF
2021-08-14T16:45:31.697Z,1628959531.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:31.697Z,1628959531.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:31.699Z,1628959531.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:32.128Z,1628959532.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:32.505Z,1628959532.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,002C2,187,80,80,74,FF
2021-08-14T16:45:32.505Z,1628959532.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:32.913Z,1628959532.913 [Micromodem](INFO): Nmea in: $SNTTA,0.027868,,,,164533.53*43

2021-08-14T16:45:35.371Z,1628959535.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:35.737Z,1628959535.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:35.737Z,1628959535.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:35.737Z,1628959535.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:35.738Z,1628959535.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:36.153Z,1628959536.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,002C2,187,80,80,74,FF
2021-08-14T16:45:36.153Z,1628959536.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:36.153Z,1628959536.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:36.155Z,1628959536.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:36.549Z,1628959536.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:36.958Z,1628959536.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,002C3,186,80,80,77,FF
2021-08-14T16:45:36.958Z,1628959536.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:37.377Z,1628959537.377 [Micromodem](INFO): Nmea in: $SNTTA,0.006777,0.440507,,,164537.98*5E

2021-08-14T16:45:38.206Z,1628959538.206 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-14T16:40:37.0Z
2021-08-14T16:45:38.206Z,1628959538.206 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-14T16:45:38.206Z,1628959538.206 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-14T16:45:38.206Z,1628959538.206 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T16:45:38.206Z,1628959538.206 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-14T16:45:38.587Z,1628959538.587 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.919998 m .
2021-08-14T16:45:38.587Z,1628959538.587 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-14T16:45:38.587Z,1628959538.587 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-14T16:45:38.588Z,1628959538.588 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-14T16:45:38.588Z,1628959538.588 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T16:45:39.367Z,1628959539.367 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:45:39.803Z,1628959539.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:40.261Z,1628959540.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:40.261Z,1628959540.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:40.261Z,1628959540.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:40.262Z,1628959540.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:40.585Z,1628959540.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,002C3,186,80,80,77,FF
2021-08-14T16:45:40.585Z,1628959540.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:40.585Z,1628959540.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:40.587Z,1628959540.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:41.002Z,1628959541.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:41.393Z,1628959541.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,002C1,188,80,80,77,FF
2021-08-14T16:45:41.394Z,1628959541.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:41.869Z,1628959541.869 [Micromodem](INFO): Nmea in: $SNTTA,0.002837,,,,164542.42*48

2021-08-14T16:45:42.342Z,1628959542.342 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-14T16:45:42.659Z,1628959542.659 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T16:45:44.269Z,1628959544.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:44.626Z,1628959544.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:44.626Z,1628959544.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:44.626Z,1628959544.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:44.627Z,1628959544.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:45.031Z,1628959545.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,002C1,188,80,80,77,FF
2021-08-14T16:45:45.031Z,1628959545.031 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:45.031Z,1628959545.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:45.054Z,1628959545.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:45.453Z,1628959545.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:45.874Z,1628959545.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,002C3,187,80,80,73,FF
2021-08-14T16:45:45.874Z,1628959545.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:46.269Z,1628959546.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164546.88*5A

2021-08-14T16:45:48.706Z,1628959548.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:49.069Z,1628959549.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:49.069Z,1628959549.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:49.069Z,1628959549.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:49.070Z,1628959549.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:49.473Z,1628959549.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,002C3,187,80,80,73,FF
2021-08-14T16:45:49.473Z,1628959549.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:49.473Z,1628959549.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:49.475Z,1628959549.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:49.899Z,1628959549.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:50.289Z,1628959550.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,002C3,186,80,80,59,FF
2021-08-14T16:45:50.289Z,1628959550.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:50.732Z,1628959550.732 [Micromodem](INFO): Nmea in: $SNTTA,0.026410,,,,164551.30*40

2021-08-14T16:45:52.737Z,1628959552.737 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-14T16:45:53.208Z,1628959553.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:53.513Z,1628959553.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:53.513Z,1628959553.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:53.513Z,1628959553.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:53.514Z,1628959553.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:53.930Z,1628959553.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,002C3,186,80,80,59,FF
2021-08-14T16:45:53.930Z,1628959553.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:53.930Z,1628959553.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:53.932Z,1628959553.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:54.325Z,1628959554.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:54.725Z,1628959554.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,002CA,187,80,80,AD,FF
2021-08-14T16:45:54.726Z,1628959554.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:55.165Z,1628959555.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164555.81*51

2021-08-14T16:45:57.243Z,1628959557.243 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:45:57.290Z,1628959557.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:45:57.553Z,1628959557.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:45:57.553Z,1628959557.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:45:57.554Z,1628959557.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:45:57.555Z,1628959557.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:45:57.968Z,1628959557.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,002CA,187,80,80,AD,FF
2021-08-14T16:45:57.968Z,1628959557.968 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:45:57.968Z,1628959557.968 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:45:57.970Z,1628959557.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:45:58.365Z,1628959558.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:45:58.769Z,1628959558.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,002D3,187,80,80,BC,FF
2021-08-14T16:45:58.769Z,1628959558.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:45:59.229Z,1628959559.229 [Micromodem](INFO): Nmea in: $SNTTA,0.049325,,,,164559.80*4B

2021-08-14T16:46:01.641Z,1628959561.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:01.997Z,1628959561.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:01.997Z,1628959561.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:01.997Z,1628959561.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:01.998Z,1628959561.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:02.401Z,1628959562.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,002D3,187,80,80,BC,FF
2021-08-14T16:46:02.401Z,1628959562.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:02.401Z,1628959562.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:02.403Z,1628959562.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:02.828Z,1628959562.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:03.233Z,1628959563.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA0,000,002DC,186,80,80,B4,FF
2021-08-14T16:46:03.233Z,1628959563.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:03.658Z,1628959563.658 [Micromodem](INFO): Nmea in: $SNTTA,0.029785,,,,164604.23*41

2021-08-14T16:46:06.073Z,1628959566.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:06.441Z,1628959566.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:06.441Z,1628959566.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:06.441Z,1628959566.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:06.442Z,1628959566.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:06.857Z,1628959566.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA0,000,002DC,186,80,80,B4,FF
2021-08-14T16:46:06.857Z,1628959566.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:06.857Z,1628959566.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:06.859Z,1628959566.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:07.253Z,1628959567.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:07.281Z,1628959567.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:46:07.657Z,1628959567.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,002E7,187,80,80,BE,FF
2021-08-14T16:46:07.658Z,1628959567.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:08.081Z,1628959568.081 [Micromodem](INFO): Nmea in: $SNTTA,0.035351,,,,164608.69*43

2021-08-14T16:46:10.511Z,1628959570.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:10.893Z,1628959570.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:10.893Z,1628959570.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:10.893Z,1628959570.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:10.894Z,1628959570.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:11.289Z,1628959571.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8F,000,002E7,187,80,80,BE,FF
2021-08-14T16:46:11.289Z,1628959571.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:11.289Z,1628959571.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:11.291Z,1628959571.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:11.706Z,1628959571.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:12.105Z,1628959572.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,002EF,186,80,80,A3,FF
2021-08-14T16:46:12.105Z,1628959572.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:12.542Z,1628959572.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164613.12*5A

2021-08-14T16:46:14.962Z,1628959574.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:15.329Z,1628959575.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:15.329Z,1628959575.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:15.329Z,1628959575.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:15.330Z,1628959575.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:15.737Z,1628959575.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,002EF,186,80,80,A3,FF
2021-08-14T16:46:15.737Z,1628959575.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:15.737Z,1628959575.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:15.739Z,1628959575.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:16.149Z,1628959576.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:16.545Z,1628959576.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,002F4,187,80,80,9A,FF
2021-08-14T16:46:16.546Z,1628959576.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:16.978Z,1628959576.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164617.57*5F

2021-08-14T16:46:19.419Z,1628959579.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:19.775Z,1628959579.775 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:19.775Z,1628959579.775 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:19.776Z,1628959579.776 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:19.778Z,1628959579.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:20.177Z,1628959580.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,002F4,187,80,80,9A,FF
2021-08-14T16:46:20.177Z,1628959580.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:20.177Z,1628959580.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:20.179Z,1628959580.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:20.596Z,1628959580.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:20.985Z,1628959580.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,002F8,186,80,80,9D,FF
2021-08-14T16:46:20.986Z,1628959580.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:21.437Z,1628959581.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164622.01*5A

2021-08-14T16:46:23.855Z,1628959583.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:24.217Z,1628959584.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:24.217Z,1628959584.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:24.217Z,1628959584.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:24.218Z,1628959584.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:24.620Z,1628959584.620 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,002F8,186,80,80,9D,FF
2021-08-14T16:46:24.620Z,1628959584.620 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:24.621Z,1628959584.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:24.623Z,1628959584.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:25.043Z,1628959585.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:25.425Z,1628959585.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,355,000,002FE,189,80,80,64,FF
2021-08-14T16:46:25.426Z,1628959585.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:25.885Z,1628959585.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164626.45*5E

2021-08-14T16:46:28.270Z,1628959588.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:28.669Z,1628959588.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:28.669Z,1628959588.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:28.669Z,1628959588.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:28.670Z,1628959588.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:29.077Z,1628959589.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
355,000,002FE,189,80,80,64,FF
2021-08-14T16:46:29.077Z,1628959589.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:29.077Z,1628959589.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:29.079Z,1628959589.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:29.473Z,1628959589.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:29.885Z,1628959589.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,00304,186,80,80,5C,FF
2021-08-14T16:46:29.885Z,1628959589.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:29.889Z,1628959589.889 [Micromodem](INFO): Nmea in: $SNTTA,0.253871,0.028746,,,164630.91*55

2021-08-14T16:46:32.723Z,1628959592.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:33.117Z,1628959593.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:33.117Z,1628959593.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:33.117Z,1628959593.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:33.118Z,1628959593.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:33.509Z,1628959593.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,00304,186,80,80,5C,FF
2021-08-14T16:46:33.509Z,1628959593.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:33.509Z,1628959593.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:33.511Z,1628959593.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:33.935Z,1628959593.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:34.317Z,1628959594.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,00308,189,80,80,67,FF
2021-08-14T16:46:34.317Z,1628959594.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:34.769Z,1628959594.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164635.34*5A

2021-08-14T16:46:35.952Z,1628959595.952 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T16:46:37.283Z,1628959597.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:37.553Z,1628959597.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:37.553Z,1628959597.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:37.553Z,1628959597.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:37.554Z,1628959597.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:37.969Z,1628959597.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,00308,189,80,80,67,FF
2021-08-14T16:46:37.969Z,1628959597.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:37.969Z,1628959597.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:37.971Z,1628959597.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:38.365Z,1628959598.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:38.785Z,1628959598.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D9,000,00309,189,80,80,AB,FF
2021-08-14T16:46:38.786Z,1628959598.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:39.213Z,1628959599.213 [Micromodem](INFO): Nmea in: $SNTTA,0.047610,0.491102,,,164639.80*52

2021-08-14T16:46:41.610Z,1628959601.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:42.006Z,1628959602.006 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:42.006Z,1628959602.006 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:42.006Z,1628959602.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:42.007Z,1628959602.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:42.401Z,1628959602.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D9,000,00309,189,80,80,AB,FF
2021-08-14T16:46:42.401Z,1628959602.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:42.401Z,1628959602.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:42.403Z,1628959602.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:42.818Z,1628959602.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:43.229Z,1628959603.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00326,186,80,80,C1,FF
2021-08-14T16:46:43.229Z,1628959603.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:43.642Z,1628959603.642 [Micromodem](INFO): Nmea in: $SNTTA,0.103800,,,,164644.23*4E

2021-08-14T16:46:43.685Z,1628959603.685 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T16:46:46.105Z,1628959606.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:46.437Z,1628959606.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:46.437Z,1628959606.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:46.437Z,1628959606.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:46.438Z,1628959606.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:46.854Z,1628959606.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00326,186,80,80,C1,FF
2021-08-14T16:46:46.854Z,1628959606.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:46.855Z,1628959606.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:46.858Z,1628959606.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:47.248Z,1628959607.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:47.657Z,1628959607.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,0030A,186,80,80,BC,FF
2021-08-14T16:46:47.657Z,1628959607.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:48.085Z,1628959608.085 [Micromodem](INFO): Nmea in: $SNTTA,0.030480,,,,164648.69*49

2021-08-14T16:46:50.494Z,1628959610.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:50.881Z,1628959610.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:50.881Z,1628959610.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:50.882Z,1628959610.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:50.883Z,1628959610.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:51.295Z,1628959611.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,0030A,186,80,80,BC,FF
2021-08-14T16:46:51.295Z,1628959611.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:51.295Z,1628959611.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:51.297Z,1628959611.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:51.692Z,1628959611.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:52.101Z,1628959612.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,0030E,186,80,80,BB,FF
2021-08-14T16:46:52.101Z,1628959612.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:52.529Z,1628959612.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164653.13*5F

2021-08-14T16:46:54.970Z,1628959614.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:55.334Z,1628959615.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:55.334Z,1628959615.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:55.334Z,1628959615.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:55.335Z,1628959615.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:46:55.725Z,1628959615.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,0030E,186,80,80,BB,FF
2021-08-14T16:46:55.725Z,1628959615.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:46:55.726Z,1628959615.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:46:55.727Z,1628959615.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:46:56.140Z,1628959616.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:46:56.545Z,1628959616.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,00312,187,80,80,BD,FF
2021-08-14T16:46:56.546Z,1628959616.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:46:56.981Z,1628959616.981 [Micromodem](INFO): Nmea in: $SNTTA,0.064978,,,,164657.56*40

2021-08-14T16:46:59.434Z,1628959619.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:46:59.769Z,1628959619.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:46:59.769Z,1628959619.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:46:59.769Z,1628959619.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:46:59.770Z,1628959619.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:00.170Z,1628959620.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,00312,187,80,80,BD,FF
2021-08-14T16:47:00.171Z,1628959620.171 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:00.171Z,1628959620.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:00.173Z,1628959620.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:00.593Z,1628959620.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:00.981Z,1628959620.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,00315,186,80,80,B2,FF
2021-08-14T16:47:00.982Z,1628959620.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:01.409Z,1628959621.409 [Micromodem](INFO): Nmea in: $SNTTA,0.027611,0.430614,,,164702.00*5F

2021-08-14T16:47:03.857Z,1628959623.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:04.217Z,1628959624.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:04.217Z,1628959624.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:04.217Z,1628959624.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:04.218Z,1628959624.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:04.622Z,1628959624.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,00315,186,80,80,B2,FF
2021-08-14T16:47:04.622Z,1628959624.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:04.623Z,1628959624.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:04.625Z,1628959624.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:05.033Z,1628959625.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:05.425Z,1628959625.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00317,186,80,80,BC,FF
2021-08-14T16:47:05.425Z,1628959625.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:05.429Z,1628959625.429 [Micromodem](INFO): Nmea in: $SNTTA,0.030382,0.166512,,,164706.45*50

2021-08-14T16:47:08.286Z,1628959628.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:08.665Z,1628959628.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:08.665Z,1628959628.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:08.665Z,1628959628.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:08.666Z,1628959628.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:09.061Z,1628959629.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00317,186,80,80,BC,FF
2021-08-14T16:47:09.061Z,1628959629.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:09.061Z,1628959629.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:09.063Z,1628959629.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:09.469Z,1628959629.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:09.874Z,1628959629.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00319,187,80,80,AD,FF
2021-08-14T16:47:09.874Z,1628959629.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:10.297Z,1628959630.297 [Micromodem](INFO): Nmea in: $SNTTA,0.056242,,,,164710.89*43

2021-08-14T16:47:10.334Z,1628959630.334 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T16:47:10.699Z,1628959630.699 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:47:12.730Z,1628959632.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:13.101Z,1628959633.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:13.101Z,1628959633.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:13.101Z,1628959633.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:13.102Z,1628959633.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:13.514Z,1628959633.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00319,187,80,80,AD,FF
2021-08-14T16:47:13.514Z,1628959633.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:13.514Z,1628959633.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:13.516Z,1628959633.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:13.913Z,1628959633.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:14.307Z,1628959634.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,0031F,186,80,80,B9,FF
2021-08-14T16:47:14.307Z,1628959634.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:14.737Z,1628959634.737 [Micromodem](INFO): Nmea in: $SNTTA,0.480744,,,,164715.34*4C

2021-08-14T16:47:17.245Z,1628959637.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:17.545Z,1628959637.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:17.545Z,1628959637.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:17.545Z,1628959637.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:17.546Z,1628959637.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:17.633Z,1628959637.633 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:47:17.957Z,1628959637.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,0031F,186,80,80,B9,FF
2021-08-14T16:47:17.958Z,1628959637.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:17.958Z,1628959637.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:17.959Z,1628959637.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:18.357Z,1628959638.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:18.758Z,1628959638.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00323,187,80,80,B9,FF
2021-08-14T16:47:18.759Z,1628959638.759 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:19.217Z,1628959639.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164719.79*5C

2021-08-14T16:47:21.609Z,1628959641.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:21.990Z,1628959641.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:21.990Z,1628959641.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:21.990Z,1628959641.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:21.991Z,1628959641.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:22.402Z,1628959642.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00323,187,80,80,B9,FF
2021-08-14T16:47:22.402Z,1628959642.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:22.402Z,1628959642.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:22.404Z,1628959642.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:22.814Z,1628959642.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:23.231Z,1628959643.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00325,186,80,80,B8,FF
2021-08-14T16:47:23.231Z,1628959643.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:23.265Z,1628959643.265 [Micromodem](INFO): Nmea in: $SNTTA,0.316637,0.316512,,,164724.23*59

2021-08-14T16:47:26.077Z,1628959646.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:26.437Z,1628959646.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:26.437Z,1628959646.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:26.437Z,1628959646.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:26.438Z,1628959646.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:26.861Z,1628959646.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00325,186,80,80,B8,FF
2021-08-14T16:47:26.861Z,1628959646.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:26.861Z,1628959646.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:26.863Z,1628959646.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:27.269Z,1628959647.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:27.649Z,1628959647.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,00328,184,80,80,CA,FF
2021-08-14T16:47:27.650Z,1628959647.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:28.085Z,1628959648.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164728.69*5F

2021-08-14T16:47:30.486Z,1628959650.486 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 10.98 m. Transitioning DDM to standby.
2021-08-14T16:47:30.487Z,1628959650.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:30.887Z,1628959650.887 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:30.887Z,1628959650.887 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:30.887Z,1628959650.887 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:30.889Z,1628959650.889 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:31.285Z,1628959651.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,00328,184,80,80,CA,FF
2021-08-14T16:47:31.285Z,1628959651.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:31.285Z,1628959651.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:31.287Z,1628959651.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:31.700Z,1628959651.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:32.097Z,1628959652.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,00329,184,80,80,BD,FF
2021-08-14T16:47:32.098Z,1628959652.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:32.537Z,1628959652.537 [Micromodem](INFO): Nmea in: $SNTTA,0.026796,,,,164733.12*4B

2021-08-14T16:47:32.960Z,1628959652.960 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-14T16:47:33.366Z,1628959653.366 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T16:47:33.367Z,1628959653.367 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-14T16:47:33.367Z,1628959653.367 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-14T16:47:33.367Z,1628959653.367 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-14T16:47:33.367Z,1628959653.367 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T16:47:33.367Z,1628959653.367 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-14T16:47:33.367Z,1628959653.367 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-14T16:47:33.368Z,1628959653.368 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-14T16:47:33.368Z,1628959653.368 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-14T16:47:33.368Z,1628959653.368 [lineCaptureDepth:Lap] Stopped
2021-08-14T16:47:33.369Z,1628959653.369 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T16:47:33.369Z,1628959653.369 [lineCaptureDepth:Lap](INFO): Running loop #3
2021-08-14T16:47:33.369Z,1628959653.369 [lineCaptureDepth:Lap] Running Loop=3
2021-08-14T16:47:33.369Z,1628959653.369 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T16:47:33.369Z,1628959653.369 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T16:47:33.705Z,1628959653.705 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T16:47:33.705Z,1628959653.705 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T16:47:33.705Z,1628959653.705 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T16:47:34.169Z,1628959654.169 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T16:47:34.170Z,1628959654.170 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T16:47:34.171Z,1628959654.171 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T16:47:34.173Z,1628959654.173 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T16:47:34.173Z,1628959654.173 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T16:47:34.526Z,1628959654.526 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T16:47:34.527Z,1628959654.527 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T16:47:34.951Z,1628959654.951 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T16:47:34.951Z,1628959654.951 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T16:47:34.952Z,1628959654.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:35.307Z,1628959655.307 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:35.307Z,1628959655.307 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:35.307Z,1628959655.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:35.308Z,1628959655.308 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:35.382Z,1628959655.382 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T16:47:35.382Z,1628959655.382 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T16:47:35.709Z,1628959655.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00329,184,80,80,BD,FF
2021-08-14T16:47:35.710Z,1628959655.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:35.710Z,1628959655.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:35.713Z,1628959655.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:35.819Z,1628959655.819 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T16:47:35.819Z,1628959655.819 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T16:47:35.819Z,1628959655.819 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T16:47:35.819Z,1628959655.819 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T16:47:35.824Z,1628959655.824 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T16:47:35.824Z,1628959655.824 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T16:47:35.824Z,1628959655.824 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T16:47:35.824Z,1628959655.824 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T16:47:35.824Z,1628959655.824 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T16:47:35.825Z,1628959655.825 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T16:47:35.825Z,1628959655.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T16:47:35.825Z,1628959655.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:47:35.825Z,1628959655.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T16:47:35.825Z,1628959655.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:47:35.825Z,1628959655.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T16:47:35.825Z,1628959655.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T16:47:35.826Z,1628959655.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T16:47:35.827Z,1628959655.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T16:47:35.827Z,1628959655.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T16:47:35.827Z,1628959655.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T16:47:36.124Z,1628959656.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:36.158Z,1628959656.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T16:47:36.158Z,1628959656.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:47:36.158Z,1628959656.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T16:47:36.158Z,1628959656.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:47:36.158Z,1628959656.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T16:47:36.158Z,1628959656.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T16:47:36.159Z,1628959656.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T16:47:36.518Z,1628959656.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0032E,185,80,80,B8,FF
2021-08-14T16:47:36.519Z,1628959656.519 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:36.532Z,1628959656.532 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:47:37.049Z,1628959657.049 [Micromodem](INFO): Nmea in: $SNTTA,0.031678,,,,164737.54*4A

2021-08-14T16:47:39.050Z,1628959659.050 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T16:47:39.425Z,1628959659.425 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T16:47:39.427Z,1628959659.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:39.785Z,1628959659.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:39.785Z,1628959659.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:39.786Z,1628959659.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:39.787Z,1628959659.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:39.869Z,1628959659.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-14T16:47:40.186Z,1628959660.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0032E,185,80,80,B8,FF
2021-08-14T16:47:40.186Z,1628959660.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:40.186Z,1628959660.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:40.188Z,1628959660.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:40.278Z,1628959660.278 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T16:47:40.591Z,1628959660.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:41.001Z,1628959661.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00331,184,80,80,84,FF
2021-08-14T16:47:41.001Z,1628959661.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:41.321Z,1628959661.321 [CTD_Seabird](ERROR): Failed to parse device response: 7.71,24.12226,4778.40
2021-08-14T16:47:41.430Z,1628959661.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164742.02*5E

2021-08-14T16:47:43.907Z,1628959663.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:44.217Z,1628959664.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:44.217Z,1628959664.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:44.217Z,1628959664.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:44.218Z,1628959664.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:44.629Z,1628959664.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00331,184,80,80,84,FF
2021-08-14T16:47:44.629Z,1628959664.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:44.629Z,1628959664.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:44.631Z,1628959664.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:45.029Z,1628959665.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:45.429Z,1628959665.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00335,183,80,80,C2,FF
2021-08-14T16:47:45.430Z,1628959665.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:45.877Z,1628959665.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164746.46*5A

2021-08-14T16:47:48.273Z,1628959668.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:48.665Z,1628959668.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:48.665Z,1628959668.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:48.665Z,1628959668.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:48.666Z,1628959668.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:49.073Z,1628959669.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00335,183,80,80,C2,FF
2021-08-14T16:47:49.074Z,1628959669.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:49.074Z,1628959669.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:49.075Z,1628959669.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:49.477Z,1628959669.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:49.878Z,1628959669.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00338,184,80,80,C1,FF
2021-08-14T16:47:49.878Z,1628959669.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:50.305Z,1628959670.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164750.91*57

2021-08-14T16:47:52.727Z,1628959672.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:53.108Z,1628959673.108 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:53.108Z,1628959673.108 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:53.109Z,1628959673.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:53.110Z,1628959673.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:53.513Z,1628959673.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00338,184,80,80,C1,FF
2021-08-14T16:47:53.514Z,1628959673.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:53.514Z,1628959673.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:53.516Z,1628959673.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:53.934Z,1628959673.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:54.321Z,1628959674.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,0033B,184,80,80,C5,FF
2021-08-14T16:47:54.321Z,1628959674.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:47:54.757Z,1628959674.757 [Micromodem](INFO): Nmea in: $SNTTA,0.028473,,,,164755.35*48

2021-08-14T16:47:57.297Z,1628959677.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:47:57.553Z,1628959677.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:47:57.553Z,1628959677.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:47:57.553Z,1628959677.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:47:57.554Z,1628959677.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:47:57.957Z,1628959677.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,0033B,184,80,80,C5,FF
2021-08-14T16:47:57.957Z,1628959677.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:47:57.957Z,1628959677.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:47:57.959Z,1628959677.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:47:58.361Z,1628959678.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:47:59.227Z,1628959679.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164759.79*58

2021-08-14T16:48:00.019Z,1628959680.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:00.391Z,1628959680.391 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 12.12 m. Transitioning DDM to standby.
2021-08-14T16:48:01.594Z,1628959681.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,184,80,80,C5,FF
2021-08-14T16:48:01.594Z,1628959681.594 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,184,80,80,C5,FF
2021-08-14T16:48:01.594Z,1628959681.594 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:48:02.847Z,1628959682.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:03.249Z,1628959683.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:03.249Z,1628959683.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:03.249Z,1628959683.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:03.250Z,1628959683.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:03.330Z,1628959683.330 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T16:48:03.606Z,1628959683.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,184,80,80,C5,FF
2021-08-14T16:48:03.606Z,1628959683.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:03.607Z,1628959683.607 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:03.609Z,1628959683.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:03.693Z,1628959683.693 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T16:48:03.693Z,1628959683.693 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T16:48:03.693Z,1628959683.693 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T16:48:03.991Z,1628959683.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:04.027Z,1628959684.027 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T16:48:04.027Z,1628959684.027 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T16:48:04.027Z,1628959684.027 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T16:48:04.425Z,1628959684.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00342,185,80,80,C1,FF
2021-08-14T16:48:04.426Z,1628959684.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:04.441Z,1628959684.441 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T16:48:04.441Z,1628959684.441 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T16:48:04.441Z,1628959684.441 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T16:48:04.441Z,1628959684.441 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T16:48:04.442Z,1628959684.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T16:48:04.833Z,1628959684.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164805.44*50

2021-08-14T16:48:04.858Z,1628959684.858 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T16:48:04.858Z,1628959684.858 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:48:04.858Z,1628959684.858 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T16:48:04.858Z,1628959684.858 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:48:04.858Z,1628959684.858 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T16:48:04.858Z,1628959684.858 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T16:48:04.859Z,1628959684.859 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T16:48:04.859Z,1628959684.859 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T16:48:04.859Z,1628959684.859 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T16:48:04.860Z,1628959684.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T16:48:04.860Z,1628959684.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T16:48:04.860Z,1628959684.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T16:48:04.861Z,1628959684.861 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 12.120000 m 
2021-08-14T16:48:04.861Z,1628959684.861 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T16:48:04.861Z,1628959684.861 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T16:48:04.862Z,1628959684.862 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T16:48:04.862Z,1628959684.862 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T16:48:04.862Z,1628959684.862 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T16:48:04.862Z,1628959684.862 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T16:48:05.261Z,1628959685.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T16:48:05.261Z,1628959685.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T16:48:05.262Z,1628959685.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T16:48:05.635Z,1628959685.635 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T16:48:05.635Z,1628959685.635 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T16:48:05.635Z,1628959685.635 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:48:05.636Z,1628959685.636 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:48:05.636Z,1628959685.636 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:48:05.637Z,1628959685.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:48:05.637Z,1628959685.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:48:05.637Z,1628959685.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:48:05.637Z,1628959685.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T16:48:05.638Z,1628959685.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T16:48:05.641Z,1628959685.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T16:48:05.641Z,1628959685.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T16:48:05.641Z,1628959685.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T16:48:05.641Z,1628959685.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T16:48:05.641Z,1628959685.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T16:48:05.642Z,1628959685.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T16:48:05.642Z,1628959685.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-14T16:48:05.643Z,1628959685.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:48:05.643Z,1628959685.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T16:48:05.643Z,1628959685.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T16:48:05.643Z,1628959685.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T16:48:05.643Z,1628959685.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T16:48:05.643Z,1628959685.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T16:48:05.643Z,1628959685.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T16:48:05.692Z,1628959685.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T16:48:05.692Z,1628959685.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T16:48:05.692Z,1628959685.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T16:48:05.884Z,1628959685.884 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2021-08-14T16:48:05.884Z,1628959685.884 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-14T16:48:05.884Z,1628959685.884 [ThrusterServo](ERROR): Communications Fault
2021-08-14T16:48:05.888Z,1628959685.888 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-14T16:48:06.035Z,1628959686.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:48:06.036Z,1628959686.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:48:06.036Z,1628959686.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:48:06.036Z,1628959686.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:48:06.038Z,1628959686.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 333.956034 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:48:06.039Z,1628959686.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.54 m.
2021-08-14T16:48:06.040Z,1628959686.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 333.956034deg and heading rate command to 0 deg/s.
2021-08-14T16:48:06.142Z,1628959686.142 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-14T16:48:06.142Z,1628959686.142 [ThrusterServo](INFO): Powering down
2021-08-14T16:48:06.974Z,1628959686.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:07.114Z,1628959687.114 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-14T16:48:07.235Z,1628959687.235 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-14T16:48:07.245Z,1628959687.245 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-14T16:48:07.245Z,1628959687.245 [ThrusterServo] No Fault, FailCount= 1
2021-08-14T16:48:07.324Z,1628959687.324 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:07.324Z,1628959687.324 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:07.325Z,1628959687.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:07.325Z,1628959687.325 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:07.760Z,1628959687.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00342,185,80,80,C1,FF
2021-08-14T16:48:07.760Z,1628959687.760 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:07.761Z,1628959687.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:07.762Z,1628959687.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:08.160Z,1628959688.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:08.561Z,1628959688.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00345,184,80,80,AC,FF
2021-08-14T16:48:08.561Z,1628959688.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:08.583Z,1628959688.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:08.985Z,1628959688.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164809.59*50

2021-08-14T16:48:09.015Z,1628959689.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 332.210484 deg, deltaT: 4.139481 s, approachRate: 0.043483 m/s, LOS rate: -0.421683 deg/s, posRepo size: 2
2021-08-14T16:48:09.036Z,1628959689.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.72 m.
2021-08-14T16:48:09.038Z,1628959689.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 332.210484 deg,
      approachRate: 0.043483 m/s,
      LOS rate: -0.421683 deg/s,
      cmd update: -1.265050 deg/s,
      cmd heading: 333.956034 deg,
      new cmd heading: 333.956034 deg.

2021-08-14T16:48:11.419Z,1628959691.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:11.792Z,1628959691.792 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:11.793Z,1628959691.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:11.793Z,1628959691.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:11.795Z,1628959691.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:12.169Z,1628959692.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00345,184,80,80,AC,FF
2021-08-14T16:48:12.169Z,1628959692.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:12.169Z,1628959692.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:12.171Z,1628959692.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:12.577Z,1628959692.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:12.983Z,1628959692.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00345,184,80,80,B4,FF
2021-08-14T16:48:12.984Z,1628959692.984 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:13.043Z,1628959693.043 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:13.421Z,1628959693.421 [Micromodem](INFO): Nmea in: $SNTTA,0.011070,,,,164814.00*49

2021-08-14T16:48:13.475Z,1628959693.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 329.454421 deg, deltaT: 4.459560 s, approachRate: 0.000000 m/s, LOS rate: -0.618012 deg/s, posRepo size: 3
2021-08-14T16:48:13.475Z,1628959693.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.72 m.
2021-08-14T16:48:13.494Z,1628959693.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 329.454421 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.618012 deg/s,
      cmd update: -1.854037 deg/s,
      cmd heading: 328.319738 deg,
      new cmd heading: 327.763726 deg.

2021-08-14T16:48:15.861Z,1628959695.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:16.213Z,1628959696.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:16.213Z,1628959696.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:16.214Z,1628959696.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:16.215Z,1628959696.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:16.614Z,1628959696.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,00345,184,80,80,B4,FF
2021-08-14T16:48:16.614Z,1628959696.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:16.614Z,1628959696.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:16.645Z,1628959696.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:17.025Z,1628959697.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:17.421Z,1628959697.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,0033E,186,80,80,B3,FF
2021-08-14T16:48:17.422Z,1628959697.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:17.509Z,1628959697.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:17.877Z,1628959697.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164818.48*50

2021-08-14T16:48:17.928Z,1628959697.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 327.920305 deg, deltaT: 4.465900 s, approachRate: -0.094046 m/s, LOS rate: -0.343518 deg/s, posRepo size: 4
2021-08-14T16:48:17.928Z,1628959697.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.30 m.
2021-08-14T16:48:17.930Z,1628959697.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 327.920305 deg,
      approachRate: -0.094046 m/s,
      LOS rate: -0.343518 deg/s,
      cmd update: -1.030553 deg/s,
      cmd heading: 320.048096 deg,
      new cmd heading: 319.249102 deg.

2021-08-14T16:48:20.288Z,1628959700.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:20.661Z,1628959700.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:20.661Z,1628959700.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:20.661Z,1628959700.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:20.662Z,1628959700.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:21.061Z,1628959701.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,0033E,186,80,80,B3,FF
2021-08-14T16:48:21.062Z,1628959701.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:21.062Z,1628959701.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:21.063Z,1628959701.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:21.464Z,1628959701.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:21.870Z,1628959701.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00325,184,80,80,B1,FF
2021-08-14T16:48:21.870Z,1628959701.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:21.900Z,1628959701.900 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:22.329Z,1628959702.329 [Micromodem](INFO): Nmea in: $SNTTA,0.069140,,,,164822.89*40

2021-08-14T16:48:22.362Z,1628959702.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 328.261323 deg, deltaT: 4.391900 s, approachRate: -0.341537 m/s, LOS rate: 0.077647 deg/s, posRepo size: 4
2021-08-14T16:48:22.362Z,1628959702.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 10.80 m.
2021-08-14T16:48:22.363Z,1628959702.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 10.80 m.
2021-08-14T16:48:22.363Z,1628959702.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:48:22.366Z,1628959702.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.800001 m,
      bearing: 328.261323 deg,
      approachRate: -0.341537 m/s,
      LOS rate: 0.077647 deg/s,
      cmd update: 0.232941 deg/s,
      cmd heading: 315.513220 deg,
      new cmd heading: 315.034212 deg.

2021-08-14T16:48:22.481Z,1628959702.481 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-14T16:48:22.481Z,1628959702.481 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-14T16:48:22.481Z,1628959702.481 [ThrusterServo](ERROR): Communications Fault
2021-08-14T16:48:22.485Z,1628959702.485 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-14T16:48:22.737Z,1628959702.737 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-14T16:48:22.737Z,1628959702.737 [ThrusterServo](INFO): Powering down
2021-08-14T16:48:23.593Z,1628959703.593 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-14T16:48:23.713Z,1628959703.713 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-14T16:48:23.717Z,1628959703.717 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-14T16:48:23.717Z,1628959703.717 [ThrusterServo] No Fault, FailCount= 1
2021-08-14T16:48:24.711Z,1628959704.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:25.097Z,1628959705.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:25.097Z,1628959705.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:25.097Z,1628959705.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:25.098Z,1628959705.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:25.501Z,1628959705.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00325,184,80,80,B1,FF
2021-08-14T16:48:25.501Z,1628959705.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:25.502Z,1628959705.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:25.503Z,1628959705.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:25.909Z,1628959705.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:26.315Z,1628959706.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00308,185,80,80,AC,FF
2021-08-14T16:48:26.315Z,1628959706.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:26.335Z,1628959706.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:26.745Z,1628959706.745 [Micromodem](INFO): Nmea in: $SNTTA,0.026956,,,,164827.33*40

2021-08-14T16:48:26.815Z,1628959706.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 323.073494 deg, deltaT: 4.435044 s, approachRate: -0.392330 m/s, LOS rate: -1.169736 deg/s, posRepo size: 4
2021-08-14T16:48:26.821Z,1628959706.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 323.073494 deg,
      approachRate: -0.392330 m/s,
      LOS rate: -1.169736 deg/s,
      cmd update: -3.509207 deg/s,
      cmd heading: 316.546332 deg,
      new cmd heading: 316.657196 deg.

2021-08-14T16:48:29.213Z,1628959709.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:29.552Z,1628959709.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:29.553Z,1628959709.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:29.553Z,1628959709.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:29.554Z,1628959709.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:29.955Z,1628959709.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00308,185,80,80,AC,FF
2021-08-14T16:48:29.955Z,1628959709.955 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:29.955Z,1628959709.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:29.957Z,1628959709.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:30.353Z,1628959710.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:30.762Z,1628959710.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,002F4,186,80,80,B5,FF
2021-08-14T16:48:30.762Z,1628959710.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:30.833Z,1628959710.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:31.221Z,1628959711.221 [Micromodem](INFO): Nmea in: $SNTTA,0.005027,,,,164831.79*47

2021-08-14T16:48:31.300Z,1628959711.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 320.756038 deg, deltaT: 4.497151 s, approachRate: -0.266836 m/s, LOS rate: -0.515316 deg/s, posRepo size: 4
2021-08-14T16:48:31.302Z,1628959711.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 320.756038 deg,
      approachRate: -0.266836 m/s,
      LOS rate: -0.515316 deg/s,
      cmd update: -1.545949 deg/s,
      cmd heading: 300.778325 deg,
      new cmd heading: 299.127826 deg.

2021-08-14T16:48:33.614Z,1628959713.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:33.993Z,1628959713.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:33.993Z,1628959713.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:33.993Z,1628959713.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:33.994Z,1628959713.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:34.409Z,1628959714.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,002F4,186,80,80,B5,FF
2021-08-14T16:48:34.409Z,1628959714.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:34.409Z,1628959714.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:34.411Z,1628959714.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:34.817Z,1628959714.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:35.226Z,1628959715.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B6,000,002E0,189,80,80,6B,FF
2021-08-14T16:48:35.226Z,1628959715.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:35.309Z,1628959715.309 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:35.647Z,1628959715.647 [Micromodem](INFO): Nmea in: $SNTTA,0.310910,,,,164836.24*42

2021-08-14T16:48:35.675Z,1628959715.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 259.824849 deg, deltaT: 4.476643 s, approachRate: -0.268058 m/s, LOS rate: -13.610911 deg/s, posRepo size: 4
2021-08-14T16:48:35.677Z,1628959715.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.610911 deg/s. Setting heading cmd to target bearing of 259.824849deg and heading rate command to 0 deg/s.
2021-08-14T16:48:38.074Z,1628959718.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:38.445Z,1628959718.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:38.445Z,1628959718.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:38.445Z,1628959718.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:38.446Z,1628959718.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:38.857Z,1628959718.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B6,000,002E0,189,80,80,6B,FF
2021-08-14T16:48:38.857Z,1628959718.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:38.857Z,1628959718.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:38.859Z,1628959718.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:39.267Z,1628959719.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:39.649Z,1628959719.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,002D3,187,80,80,72,FF
2021-08-14T16:48:39.650Z,1628959719.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:39.670Z,1628959719.670 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:40.085Z,1628959720.085 [Micromodem](INFO): Nmea in: $SNTTA,0.042361,,,,164840.69*42

2021-08-14T16:48:40.124Z,1628959720.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 278.048586 deg, deltaT: 4.360493 s, approachRate: -0.178879 m/s, LOS rate: 4.179283 deg/s, posRepo size: 4
2021-08-14T16:48:40.126Z,1628959720.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 278.048586 deg,
      approachRate: -0.178879 m/s,
      LOS rate: 4.179283 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 259.824849 deg,
      new cmd heading: 259.824849 deg.

2021-08-14T16:48:42.526Z,1628959722.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:42.885Z,1628959722.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:42.885Z,1628959722.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:42.886Z,1628959722.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:42.887Z,1628959722.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:43.286Z,1628959723.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,002D3,187,80,80,72,FF
2021-08-14T16:48:43.286Z,1628959723.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:43.286Z,1628959723.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:43.306Z,1628959723.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:43.692Z,1628959723.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:44.086Z,1628959724.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,002DD,187,80,80,54,FF
2021-08-14T16:48:44.087Z,1628959724.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:44.180Z,1628959724.180 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:44.525Z,1628959724.525 [Micromodem](INFO): Nmea in: $SNTTA,0.150777,,,,164845.13*4B

2021-08-14T16:48:44.547Z,1628959724.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 279.417657 deg, deltaT: 4.510038 s, approachRate: 0.133036 m/s, LOS rate: 0.303561 deg/s, posRepo size: 4
2021-08-14T16:48:44.550Z,1628959724.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 279.417657 deg,
      approachRate: 0.133036 m/s,
      LOS rate: 0.303561 deg/s,
      cmd update: 0.910682 deg/s,
      cmd heading: 313.835591 deg,
      new cmd heading: 318.393671 deg.

2021-08-14T16:48:46.959Z,1628959726.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:47.325Z,1628959727.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:47.325Z,1628959727.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:47.325Z,1628959727.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:47.326Z,1628959727.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:47.717Z,1628959727.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,002DD,187,80,80,54,FF
2021-08-14T16:48:47.717Z,1628959727.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:47.717Z,1628959727.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:47.719Z,1628959727.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:48.129Z,1628959728.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:48.529Z,1628959728.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00314,183,80,80,90,FF
2021-08-14T16:48:48.529Z,1628959728.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:48.574Z,1628959728.574 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:48.977Z,1628959728.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164849.55*58

2021-08-14T16:48:49.031Z,1628959729.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 274.574233 deg, deltaT: 4.393891 s, approachRate: 0.751043 m/s, LOS rate: -1.102309 deg/s, posRepo size: 4
2021-08-14T16:48:49.034Z,1628959729.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 274.574233 deg,
      approachRate: 0.751043 m/s,
      LOS rate: -1.102309 deg/s,
      cmd update: -3.306926 deg/s,
      cmd heading: 317.823375 deg,
      new cmd heading: 318.264921 deg.

2021-08-14T16:48:51.429Z,1628959731.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:51.773Z,1628959731.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:51.773Z,1628959731.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:51.774Z,1628959731.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:51.775Z,1628959731.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:52.165Z,1628959732.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00314,183,80,80,90,FF
2021-08-14T16:48:52.165Z,1628959732.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:52.166Z,1628959732.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:52.167Z,1628959732.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:52.573Z,1628959732.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:52.985Z,1628959732.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,00331,186,80,80,45,FF
2021-08-14T16:48:52.986Z,1628959732.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:53.016Z,1628959733.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:53.414Z,1628959733.414 [Micromodem](INFO): Nmea in: $SNTTA,,0.393962,,,164854.00*4E

2021-08-14T16:48:53.450Z,1628959733.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 306.113478 deg, deltaT: 4.442631 s, approachRate: 0.391660 m/s, LOS rate: 7.099227 deg/s, posRepo size: 4
2021-08-14T16:48:53.453Z,1628959733.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 306.113478 deg,
      approachRate: 0.391660 m/s,
      LOS rate: 7.099227 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 303.054337 deg,
      new cmd heading: 301.606499 deg.

2021-08-14T16:48:55.861Z,1628959735.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:48:56.205Z,1628959736.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:48:56.205Z,1628959736.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:48:56.205Z,1628959736.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:48:56.206Z,1628959736.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:48:56.618Z,1628959736.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,00331,186,80,80,45,FF
2021-08-14T16:48:56.618Z,1628959736.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:48:56.619Z,1628959736.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:48:56.621Z,1628959736.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:48:57.024Z,1628959737.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:48:57.426Z,1628959737.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00366,186,80,80,7D,FF
2021-08-14T16:48:57.426Z,1628959737.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:48:57.466Z,1628959737.466 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:48:57.869Z,1628959737.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164858.45*59

2021-08-14T16:48:57.941Z,1628959737.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 320.901057 deg, deltaT: 4.449373 s, approachRate: 0.714707 m/s, LOS rate: 3.323519 deg/s, posRepo size: 4
2021-08-14T16:48:57.943Z,1628959737.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 320.901057 deg,
      approachRate: 0.714707 m/s,
      LOS rate: 3.323519 deg/s,
      cmd update: 9.970558 deg/s,
      cmd heading: 356.454913 deg,
      new cmd heading: 2.122274 deg.

2021-08-14T16:49:00.266Z,1628959740.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:00.655Z,1628959740.655 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:00.676Z,1628959740.676 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:00.676Z,1628959740.676 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:00.677Z,1628959740.677 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:01.053Z,1628959741.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00366,186,80,80,7D,FF
2021-08-14T16:49:01.053Z,1628959741.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:01.053Z,1628959741.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:01.055Z,1628959741.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:01.469Z,1628959741.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:01.861Z,1628959741.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,00368,189,80,80,61,FF
2021-08-14T16:49:01.861Z,1628959741.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:01.954Z,1628959741.954 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:02.318Z,1628959742.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 293.157784 deg, deltaT: 4.488235 s, approachRate: 0.026737 m/s, LOS rate: -6.181332 deg/s, posRepo size: 4
2021-08-14T16:49:02.320Z,1628959742.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 293.157784 deg,
      approachRate: 0.026737 m/s,
      LOS rate: -6.181332 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 41.202359 deg,
      new cmd heading: 44.865203 deg.

2021-08-14T16:49:04.735Z,1628959744.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:05.108Z,1628959745.108 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:05.109Z,1628959745.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:05.109Z,1628959745.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:05.110Z,1628959745.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:05.497Z,1628959745.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,00368,189,80,80,61,FF
2021-08-14T16:49:05.497Z,1628959745.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:05.497Z,1628959745.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:05.499Z,1628959745.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:05.909Z,1628959745.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:06.302Z,1628959746.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,00387,187,80,80,99,FF
2021-08-14T16:49:06.302Z,1628959746.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:06.360Z,1628959746.360 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:06.769Z,1628959746.769 [Micromodem](INFO): Nmea in: $SNTTA,0.034079,,,,164907.33*44

2021-08-14T16:49:06.865Z,1628959746.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 6.485748 deg, deltaT: 4.406383 s, approachRate: 0.422115 m/s, LOS rate: 16.641307 deg/s, posRepo size: 4
2021-08-14T16:49:06.867Z,1628959746.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.641307 deg/s. Setting heading cmd to target bearing of 6.485748deg and heading rate command to 0 deg/s.
2021-08-14T16:49:07.936Z,1628959747.936 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:49:09.218Z,1628959749.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:09.552Z,1628959749.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:09.552Z,1628959749.552 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:09.552Z,1628959749.552 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:09.553Z,1628959749.553 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:09.945Z,1628959749.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,00387,187,80,80,99,FF
2021-08-14T16:49:09.945Z,1628959749.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:09.945Z,1628959749.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:09.947Z,1628959749.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:10.357Z,1628959750.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:10.762Z,1628959750.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,0039D,186,80,80,BB,FF
2021-08-14T16:49:10.764Z,1628959750.764 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:10.839Z,1628959750.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:11.217Z,1628959751.217 [Micromodem](INFO): Nmea in: $SNTTA,0.055329,,,,164911.78*4D

2021-08-14T16:49:11.290Z,1628959751.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 17.130958 deg, deltaT: 4.478404 s, approachRate: 0.294747 m/s, LOS rate: 2.377010 deg/s, posRepo size: 4
2021-08-14T16:49:11.297Z,1628959751.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.000000 m,
      bearing: 17.130958 deg,
      approachRate: 0.294747 m/s,
      LOS rate: 2.377010 deg/s,
      cmd update: 7.131029 deg/s,
      cmd heading: 6.485748 deg,
      new cmd heading: 6.485748 deg.

2021-08-14T16:49:13.619Z,1628959753.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:13.982Z,1628959753.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:13.982Z,1628959753.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:13.983Z,1628959753.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:13.986Z,1628959753.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:14.385Z,1628959754.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,0039D,186,80,80,BB,FF
2021-08-14T16:49:14.385Z,1628959754.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:14.385Z,1628959754.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:14.387Z,1628959754.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:14.821Z,1628959754.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:15.233Z,1628959755.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,003B8,189,80,80,60,FF
2021-08-14T16:49:15.233Z,1628959755.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:15.294Z,1628959755.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:15.633Z,1628959755.633 [Micromodem](INFO): Nmea in: $SNTTA,0.039392,,,,164916.22*4F

2021-08-14T16:49:15.663Z,1628959755.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 48.654303 deg, deltaT: 4.454872 s, approachRate: 0.363647 m/s, LOS rate: 7.076151 deg/s, posRepo size: 4
2021-08-14T16:49:15.666Z,1628959755.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 48.654303 deg,
      approachRate: 0.363647 m/s,
      LOS rate: 7.076151 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 38.281146 deg,
      new cmd heading: 40.942974 deg.

2021-08-14T16:49:18.073Z,1628959758.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:18.429Z,1628959758.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:18.429Z,1628959758.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:18.429Z,1628959758.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:18.430Z,1628959758.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:18.865Z,1628959758.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,003B8,189,80,80,60,FF
2021-08-14T16:49:18.865Z,1628959758.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:18.865Z,1628959758.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:18.867Z,1628959758.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:19.241Z,1628959759.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:20.063Z,1628959760.063 [Micromodem](INFO): Nmea in: $SNTTA,,0.013064,,,164920.70*4F

2021-08-14T16:49:20.897Z,1628959760.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:22.465Z,1628959762.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,60,FF
2021-08-14T16:49:22.465Z,1628959762.465 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,60,FF
2021-08-14T16:49:22.465Z,1628959762.465 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:49:23.707Z,1628959763.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:24.085Z,1628959764.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:24.085Z,1628959764.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:24.085Z,1628959764.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:24.086Z,1628959764.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:24.490Z,1628959764.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,60,FF
2021-08-14T16:49:24.490Z,1628959764.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:24.490Z,1628959764.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:24.492Z,1628959764.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:24.903Z,1628959764.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:25.293Z,1628959765.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFA,000,003D0,189,80,80,53,FF
2021-08-14T16:49:25.294Z,1628959765.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:25.297Z,1628959765.297 [Micromodem](INFO): Nmea in: $SNTTA,0.035810,0.230154,,,164926.32*5F

2021-08-14T16:49:25.372Z,1628959765.372 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:25.749Z,1628959765.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 115.159803 deg, deltaT: 10.078859 s, approachRate: 0.142873 m/s, LOS rate: 6.598515 deg/s, posRepo size: 4
2021-08-14T16:49:25.751Z,1628959765.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 115.159803 deg,
      approachRate: 0.142873 m/s,
      LOS rate: 6.598515 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 159.136089 deg,
      new cmd heading: 163.780365 deg.

2021-08-14T16:49:26.930Z,1628959766.930 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T16:49:28.167Z,1628959768.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:28.525Z,1628959768.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:28.525Z,1628959768.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:28.525Z,1628959768.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:28.526Z,1628959768.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:28.938Z,1628959768.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFA,000,003D0,189,80,80,53,FF
2021-08-14T16:49:28.938Z,1628959768.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:28.938Z,1628959768.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:28.939Z,1628959768.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:29.345Z,1628959769.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:29.737Z,1628959769.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D19,000,003B7,189,80,80,A1,FF
2021-08-14T16:49:29.737Z,1628959769.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:29.770Z,1628959769.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:30.181Z,1628959770.181 [Micromodem](INFO): Nmea in: $SNTTA,0.029127,,,,164930.77*46

2021-08-14T16:49:30.219Z,1628959770.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 118.877093 deg, deltaT: 4.426979 s, approachRate: -0.338831 m/s, LOS rate: 0.839690 deg/s, posRepo size: 4
2021-08-14T16:49:30.221Z,1628959770.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 118.877093 deg,
      approachRate: -0.338831 m/s,
      LOS rate: 0.839690 deg/s,
      cmd update: 2.519070 deg/s,
      cmd heading: 211.900822 deg,
      new cmd heading: 217.422790 deg.

2021-08-14T16:49:32.604Z,1628959772.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:32.981Z,1628959772.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:32.981Z,1628959772.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:32.981Z,1628959772.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:32.982Z,1628959772.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:33.381Z,1628959773.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D19,000,003B7,189,80,80,A1,FF
2021-08-14T16:49:33.381Z,1628959773.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:33.381Z,1628959773.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:33.383Z,1628959773.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:33.852Z,1628959773.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:34.205Z,1628959774.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003A8,189,80,80,9F,FF
2021-08-14T16:49:34.205Z,1628959774.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:34.261Z,1628959774.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:34.649Z,1628959774.649 [Micromodem](INFO): Nmea in: $SNTTA,0.042727,,,,164935.22*48

2021-08-14T16:49:34.667Z,1628959774.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.659996 m, bearing: 162.904492 deg, deltaT: 4.461272 s, approachRate: -0.201737 m/s, LOS rate: 9.868799 deg/s, posRepo size: 4
2021-08-14T16:49:34.670Z,1628959774.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.659996 m,
      bearing: 162.904492 deg,
      approachRate: -0.201737 m/s,
      LOS rate: 9.868799 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 223.224739 deg,
      new cmd heading: 224.267122 deg.

2021-08-14T16:49:37.069Z,1628959777.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:37.445Z,1628959777.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:37.445Z,1628959777.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:37.445Z,1628959777.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:37.446Z,1628959777.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:37.853Z,1628959777.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003A8,189,80,80,9F,FF
2021-08-14T16:49:37.853Z,1628959777.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:37.853Z,1628959777.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:37.855Z,1628959777.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:38.249Z,1628959778.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:38.657Z,1628959778.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00394,189,80,80,88,FF
2021-08-14T16:49:38.657Z,1628959778.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:38.702Z,1628959778.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:39.094Z,1628959779.094 [Micromodem](INFO): Nmea in: $SNTTA,0.043754,,,,164939.69*4E

2021-08-14T16:49:39.103Z,1628959779.103 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T16:49:39.118Z,1628959779.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 179.693698 deg, deltaT: 4.441156 s, approachRate: -0.270199 m/s, LOS rate: 3.780368 deg/s, posRepo size: 4
2021-08-14T16:49:39.127Z,1628959779.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 179.693698 deg,
      approachRate: -0.270199 m/s,
      LOS rate: 3.780368 deg/s,
      cmd update: 11.341106 deg/s,
      cmd heading: 276.518289 deg,
      new cmd heading: 281.597637 deg.

2021-08-14T16:49:41.110Z,1628959781.110 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:49:41.519Z,1628959781.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:41.896Z,1628959781.896 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:41.897Z,1628959781.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:41.897Z,1628959781.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:41.898Z,1628959781.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:42.285Z,1628959782.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00394,189,80,80,88,FF
2021-08-14T16:49:42.285Z,1628959782.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:42.285Z,1628959782.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:42.287Z,1628959782.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:42.696Z,1628959782.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:43.102Z,1628959783.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D18,000,00376,18A,80,80,B1,FF
2021-08-14T16:49:43.103Z,1628959783.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:43.215Z,1628959783.215 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:43.533Z,1628959783.533 [Micromodem](INFO): Nmea in: $SNTTA,0.013129,,,,164944.13*40

2021-08-14T16:49:43.585Z,1628959783.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 167.959269 deg, deltaT: 4.521671 s, approachRate: -0.398082 m/s, LOS rate: -2.595153 deg/s, posRepo size: 4
2021-08-14T16:49:43.587Z,1628959783.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 167.959269 deg,
      approachRate: -0.398082 m/s,
      LOS rate: -2.595153 deg/s,
      cmd update: -7.785459 deg/s,
      cmd heading: 327.741526 deg,
      new cmd heading: 331.972314 deg.

2021-08-14T16:49:45.986Z,1628959785.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:46.325Z,1628959786.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:46.325Z,1628959786.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:46.325Z,1628959786.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:46.326Z,1628959786.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:46.733Z,1628959786.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D18,000,00376,18A,80,80,B1,FF
2021-08-14T16:49:46.734Z,1628959786.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:46.734Z,1628959786.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:46.735Z,1628959786.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:47.173Z,1628959787.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:47.545Z,1628959787.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAF,000,00358,189,80,80,8E,FF
2021-08-14T16:49:47.545Z,1628959787.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:47.604Z,1628959787.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:47.986Z,1628959787.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164948.57*5A

2021-08-14T16:49:48.012Z,1628959788.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 180.076626 deg, deltaT: 4.381177 s, approachRate: -0.410849 m/s, LOS rate: 2.765776 deg/s, posRepo size: 4
2021-08-14T16:49:48.014Z,1628959788.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 180.076626 deg,
      approachRate: -0.410849 m/s,
      LOS rate: 2.765776 deg/s,
      cmd update: 8.297329 deg/s,
      cmd heading: 293.648564 deg,
      new cmd heading: 290.368744 deg.

2021-08-14T16:49:50.387Z,1628959790.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:50.804Z,1628959790.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:50.804Z,1628959790.804 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:50.804Z,1628959790.804 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:50.805Z,1628959790.805 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:51.221Z,1628959791.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAF,000,00358,189,80,80,8E,FF
2021-08-14T16:49:51.221Z,1628959791.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:51.221Z,1628959791.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:51.223Z,1628959791.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:51.595Z,1628959791.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:51.977Z,1628959791.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00343,189,80,80,A8,FF
2021-08-14T16:49:51.978Z,1628959791.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:52.032Z,1628959792.032 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:52.425Z,1628959792.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164953.05*57

2021-08-14T16:49:52.451Z,1628959792.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 193.902978 deg, deltaT: 4.427256 s, approachRate: -0.284601 m/s, LOS rate: 3.123007 deg/s, posRepo size: 4
2021-08-14T16:49:52.458Z,1628959792.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 193.902978 deg,
      approachRate: -0.284601 m/s,
      LOS rate: 3.123007 deg/s,
      cmd update: 9.369022 deg/s,
      cmd heading: 330.407881 deg,
      new cmd heading: 333.979449 deg.

2021-08-14T16:49:54.878Z,1628959794.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:55.237Z,1628959795.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:55.237Z,1628959795.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:55.237Z,1628959795.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:55.238Z,1628959795.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:49:55.636Z,1628959795.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00343,189,80,80,A8,FF
2021-08-14T16:49:55.637Z,1628959795.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:49:55.637Z,1628959795.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:49:55.638Z,1628959795.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:49:56.033Z,1628959796.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:49:56.440Z,1628959796.440 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,00336,188,80,80,AB,FF
2021-08-14T16:49:56.441Z,1628959796.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:49:56.461Z,1628959796.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:49:56.881Z,1628959796.881 [Micromodem](INFO): Nmea in: $SNTTA,0.032636,,,,164957.47*49

2021-08-14T16:49:56.931Z,1628959796.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 178.973974 deg, deltaT: 4.428898 s, approachRate: -0.176116 m/s, LOS rate: -3.370817 deg/s, posRepo size: 4
2021-08-14T16:49:56.937Z,1628959796.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 178.973974 deg,
      approachRate: -0.176116 m/s,
      LOS rate: -3.370817 deg/s,
      cmd update: -10.112450 deg/s,
      cmd heading: 11.978745 deg,
      new cmd heading: 16.408878 deg.

2021-08-14T16:49:59.291Z,1628959799.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:49:59.672Z,1628959799.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:49:59.673Z,1628959799.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:49:59.673Z,1628959799.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:49:59.674Z,1628959799.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:00.061Z,1628959800.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D06,000,00336,188,80,80,AB,FF
2021-08-14T16:50:00.062Z,1628959800.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:00.062Z,1628959800.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:00.064Z,1628959800.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:00.487Z,1628959800.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:00.869Z,1628959800.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,00337,18A,80,80,68,FF
2021-08-14T16:50:00.870Z,1628959800.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:00.940Z,1628959800.940 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:01.313Z,1628959801.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165001.90*54

2021-08-14T16:50:01.381Z,1628959801.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 164.483181 deg, deltaT: 4.479093 s, approachRate: 0.013395 m/s, LOS rate: -3.235207 deg/s, posRepo size: 4
2021-08-14T16:50:01.383Z,1628959801.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 164.483181 deg,
      approachRate: 0.013395 m/s,
      LOS rate: -3.235207 deg/s,
      cmd update: -9.705621 deg/s,
      cmd heading: 326.767284 deg,
      new cmd heading: 322.238798 deg.

2021-08-14T16:50:03.740Z,1628959803.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:04.101Z,1628959804.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:04.101Z,1628959804.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:04.101Z,1628959804.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:04.102Z,1628959804.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:04.505Z,1628959804.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00337,18A,80,80,68,FF
2021-08-14T16:50:04.506Z,1628959804.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:04.506Z,1628959804.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:04.509Z,1628959804.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:04.913Z,1628959804.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:05.326Z,1628959805.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,0035B,189,80,80,73,FF
2021-08-14T16:50:05.326Z,1628959805.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:05.393Z,1628959805.393 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:05.779Z,1628959805.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165006.34*5D

2021-08-14T16:50:05.832Z,1628959805.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 145.580865 deg, deltaT: 4.453274 s, approachRate: 0.485036 m/s, LOS rate: -4.244589 deg/s, posRepo size: 4
2021-08-14T16:50:05.834Z,1628959805.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.039998 m,
      bearing: 145.580865 deg,
      approachRate: 0.485036 m/s,
      LOS rate: -4.244589 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 283.464850 deg,
      new cmd heading: 279.371213 deg.

2021-08-14T16:50:08.189Z,1628959808.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:08.557Z,1628959808.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:08.557Z,1628959808.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:08.557Z,1628959808.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:08.558Z,1628959808.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:08.949Z,1628959808.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,0035B,189,80,80,73,FF
2021-08-14T16:50:08.949Z,1628959808.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:08.949Z,1628959808.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:08.951Z,1628959808.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:09.367Z,1628959809.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:09.753Z,1628959809.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00381,186,80,80,4B,FF
2021-08-14T16:50:09.754Z,1628959809.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:09.828Z,1628959809.828 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:10.202Z,1628959810.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165010.78*52

2021-08-14T16:50:10.261Z,1628959810.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 127.726614 deg, deltaT: 4.434599 s, approachRate: 0.514139 m/s, LOS rate: -4.026125 deg/s, posRepo size: 4
2021-08-14T16:50:10.263Z,1628959810.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 127.726614 deg,
      approachRate: 0.514139 m/s,
      LOS rate: -4.026125 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 230.397705 deg,
      new cmd heading: 225.063453 deg.

2021-08-14T16:50:11.400Z,1628959811.400 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T16:50:12.645Z,1628959812.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:13.001Z,1628959813.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:13.001Z,1628959813.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:13.001Z,1628959813.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:13.002Z,1628959813.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:13.401Z,1628959813.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00381,186,80,80,4B,FF
2021-08-14T16:50:13.402Z,1628959813.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:13.402Z,1628959813.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:13.406Z,1628959813.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:13.821Z,1628959813.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:14.201Z,1628959814.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00399,187,80,80,A1,FF
2021-08-14T16:50:14.201Z,1628959814.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:14.259Z,1628959814.259 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:14.646Z,1628959814.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165015.24*5E

2021-08-14T16:50:14.662Z,1628959814.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 150.875860 deg, deltaT: 4.436533 s, approachRate: 0.324578 m/s, LOS rate: 5.217868 deg/s, posRepo size: 4
2021-08-14T16:50:14.663Z,1628959814.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 150.875860 deg,
      approachRate: 0.324578 m/s,
      LOS rate: 5.217868 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 177.195739 deg,
      new cmd heading: 172.209127 deg.

2021-08-14T16:50:17.062Z,1628959817.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:17.441Z,1628959817.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:17.441Z,1628959817.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:17.442Z,1628959817.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:17.443Z,1628959817.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:17.853Z,1628959817.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00399,187,80,80,A1,FF
2021-08-14T16:50:17.853Z,1628959817.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:17.853Z,1628959817.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:17.855Z,1628959817.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:18.249Z,1628959818.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:18.661Z,1628959818.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,003BA,186,80,80,74,FF
2021-08-14T16:50:18.661Z,1628959818.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:18.682Z,1628959818.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:19.086Z,1628959819.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165019.69*5B

2021-08-14T16:50:19.203Z,1628959819.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 162.733806 deg, deltaT: 4.417249 s, approachRate: 0.448243 m/s, LOS rate: 2.684464 deg/s, posRepo size: 4
2021-08-14T16:50:19.208Z,1628959819.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.74 m. Rolling out.
2021-08-14T16:50:19.208Z,1628959819.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T16:50:21.579Z,1628959821.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:21.885Z,1628959821.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:21.885Z,1628959821.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:21.886Z,1628959821.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:21.886Z,1628959821.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:22.285Z,1628959822.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,003BA,186,80,80,74,FF
2021-08-14T16:50:22.285Z,1628959822.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:22.285Z,1628959822.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:22.287Z,1628959822.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:22.692Z,1628959822.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:23.093Z,1628959823.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,003D3,189,80,80,95,FF
2021-08-14T16:50:23.094Z,1628959823.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:23.221Z,1628959823.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:23.537Z,1628959823.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165024.12*59

2021-08-14T16:50:23.590Z,1628959823.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 190.296925 deg, deltaT: 4.539168 s, approachRate: 0.330456 m/s, LOS rate: 6.072284 deg/s, posRepo size: 4
2021-08-14T16:50:25.955Z,1628959825.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:26.329Z,1628959826.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:26.329Z,1628959826.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:26.329Z,1628959826.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:26.330Z,1628959826.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:26.737Z,1628959826.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,003D3,189,80,80,95,FF
2021-08-14T16:50:26.737Z,1628959826.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:26.738Z,1628959826.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:26.739Z,1628959826.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:27.156Z,1628959827.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:27.541Z,1628959827.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,003EB,18A,80,80,4C,FF
2021-08-14T16:50:27.542Z,1628959827.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:27.582Z,1628959827.582 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:27.973Z,1628959827.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165028.57*54

2021-08-14T16:50:28.033Z,1628959828.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 206.251823 deg, deltaT: 4.361436 s, approachRate: 0.330167 m/s, LOS rate: 3.658175 deg/s, posRepo size: 4
2021-08-14T16:50:30.387Z,1628959830.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:30.782Z,1628959830.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:30.782Z,1628959830.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:30.783Z,1628959830.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:30.789Z,1628959830.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:31.213Z,1628959831.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,003EB,18A,80,80,4C,FF
2021-08-14T16:50:31.213Z,1628959831.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:31.213Z,1628959831.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:31.215Z,1628959831.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:31.580Z,1628959831.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:31.986Z,1628959831.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,003F3,188,80,80,3E,FF
2021-08-14T16:50:31.986Z,1628959831.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:32.016Z,1628959832.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:32.441Z,1628959832.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165033.05*59

2021-08-14T16:50:32.480Z,1628959832.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 225.167923 deg, deltaT: 4.433754 s, approachRate: 0.108261 m/s, LOS rate: 4.266385 deg/s, posRepo size: 4
2021-08-14T16:50:34.882Z,1628959834.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:35.232Z,1628959835.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:35.233Z,1628959835.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:35.233Z,1628959835.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:35.234Z,1628959835.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:35.618Z,1628959835.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,003F3,188,80,80,3E,FF
2021-08-14T16:50:35.619Z,1628959835.619 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:35.619Z,1628959835.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:35.622Z,1628959835.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:36.033Z,1628959836.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:36.425Z,1628959836.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,003E7,189,80,80,B6,FF
2021-08-14T16:50:36.425Z,1628959836.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:36.476Z,1628959836.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:36.873Z,1628959836.873 [Micromodem](INFO): Nmea in: $SNTTA,0.039192,,,,165037.45*47

2021-08-14T16:50:36.899Z,1628959836.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 250.177098 deg, deltaT: 4.460299 s, approachRate: -0.161424 m/s, LOS rate: 5.607062 deg/s, posRepo size: 4
2021-08-14T16:50:39.299Z,1628959839.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:39.665Z,1628959839.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:39.665Z,1628959839.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:39.665Z,1628959839.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:39.666Z,1628959839.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:40.069Z,1628959840.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,003E7,189,80,80,B6,FF
2021-08-14T16:50:40.069Z,1628959840.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:40.069Z,1628959840.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:40.071Z,1628959840.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:40.477Z,1628959840.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:40.873Z,1628959840.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E1,189,80,80,63,FF
2021-08-14T16:50:40.873Z,1628959840.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:40.928Z,1628959840.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:41.305Z,1628959841.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165041.90*50

2021-08-14T16:50:41.352Z,1628959841.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 299.913005 deg, deltaT: 4.452001 s, approachRate: -0.080863 m/s, LOS rate: 11.171585 deg/s, posRepo size: 4
2021-08-14T16:50:43.739Z,1628959843.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:44.101Z,1628959844.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:44.101Z,1628959844.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:44.101Z,1628959844.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:44.102Z,1628959844.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:44.501Z,1628959844.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E1,189,80,80,63,FF
2021-08-14T16:50:44.501Z,1628959844.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:44.502Z,1628959844.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:44.503Z,1628959844.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:44.909Z,1628959844.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:45.313Z,1628959845.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B32,000,003D3,189,80,80,4C,FF
2021-08-14T16:50:45.314Z,1628959845.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:45.377Z,1628959845.377 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:45.758Z,1628959845.758 [Micromodem](INFO): Nmea in: $SNTTA,0.035077,,,,165046.33*46

2021-08-14T16:50:45.792Z,1628959845.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 302.906186 deg, deltaT: 4.449134 s, approachRate: -0.188801 m/s, LOS rate: 0.672756 deg/s, posRepo size: 4
2021-08-14T16:50:48.182Z,1628959848.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:48.541Z,1628959848.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:48.541Z,1628959848.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:48.541Z,1628959848.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:48.542Z,1628959848.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:48.949Z,1628959848.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B32,000,003D3,189,80,80,4C,FF
2021-08-14T16:50:48.949Z,1628959848.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:48.949Z,1628959848.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:48.951Z,1628959848.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:49.367Z,1628959849.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:49.761Z,1628959849.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003C8,189,80,80,7D,FF
2021-08-14T16:50:49.762Z,1628959849.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:49.838Z,1628959849.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:50.209Z,1628959850.209 [Micromodem](INFO): Nmea in: $SNTTA,0.050493,,,,165050.78*43

2021-08-14T16:50:50.239Z,1628959850.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 302.113337 deg, deltaT: 4.460585 s, approachRate: -0.147962 m/s, LOS rate: -0.177745 deg/s, posRepo size: 4
2021-08-14T16:50:52.637Z,1628959852.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:52.993Z,1628959852.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:52.993Z,1628959852.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:52.994Z,1628959852.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:52.994Z,1628959852.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:53.393Z,1628959853.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003C8,189,80,80,7D,FF
2021-08-14T16:50:53.393Z,1628959853.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:53.393Z,1628959853.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:53.395Z,1628959853.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:53.817Z,1628959853.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:54.209Z,1628959854.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,003C4,185,80,80,65,FF
2021-08-14T16:50:54.209Z,1628959854.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:54.230Z,1628959854.230 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:54.641Z,1628959854.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165055.23*5D

2021-08-14T16:50:54.679Z,1628959854.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 261.561439 deg, deltaT: 4.392475 s, approachRate: -0.054639 m/s, LOS rate: -9.232129 deg/s, posRepo size: 4
2021-08-14T16:50:57.078Z,1628959857.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:50:57.441Z,1628959857.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:50:57.441Z,1628959857.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:50:57.441Z,1628959857.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:50:57.442Z,1628959857.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:50:57.849Z,1628959857.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,003C4,185,80,80,65,FF
2021-08-14T16:50:57.849Z,1628959857.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:50:57.849Z,1628959857.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:50:57.851Z,1628959857.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:50:58.252Z,1628959858.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:50:58.653Z,1628959858.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003C8,189,80,80,99,FF
2021-08-14T16:50:58.653Z,1628959858.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:50:58.703Z,1628959858.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:50:59.093Z,1628959859.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165059.68*5E

2021-08-14T16:50:59.189Z,1628959859.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 300.814344 deg, deltaT: 4.472168 s, approachRate: 0.053666 m/s, LOS rate: 8.777153 deg/s, posRepo size: 4
2021-08-14T16:51:01.542Z,1628959861.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:01.885Z,1628959861.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:01.885Z,1628959861.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:01.885Z,1628959861.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:01.886Z,1628959861.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:02.293Z,1628959862.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003C8,189,80,80,99,FF
2021-08-14T16:51:02.294Z,1628959862.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:02.294Z,1628959862.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:02.295Z,1628959862.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:02.694Z,1628959862.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:03.113Z,1628959863.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E7,000,003DF,18A,80,80,69,FF
2021-08-14T16:51:03.113Z,1628959863.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:03.224Z,1628959863.224 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:03.537Z,1628959863.537 [Micromodem](INFO): Nmea in: $SNTTA,0.057890,,,,165104.13*46

2021-08-14T16:51:03.599Z,1628959863.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 199.004801 deg, deltaT: 4.521352 s, approachRate: 0.305218 m/s, LOS rate: -22.517500 deg/s, posRepo size: 4
2021-08-14T16:51:05.955Z,1628959865.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:06.333Z,1628959866.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:06.333Z,1628959866.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:06.333Z,1628959866.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:06.334Z,1628959866.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:06.725Z,1628959866.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E7,000,003DF,18A,80,80,69,FF
2021-08-14T16:51:06.725Z,1628959866.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:06.725Z,1628959866.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:06.727Z,1628959866.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:07.190Z,1628959867.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:07.541Z,1628959867.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,003E9,188,80,80,5E,FF
2021-08-14T16:51:07.542Z,1628959867.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:07.595Z,1628959867.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:07.974Z,1628959867.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165108.56*56

2021-08-14T16:51:08.000Z,1628959868.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 265.262581 deg, deltaT: 4.370999 s, approachRate: 0.137269 m/s, LOS rate: 15.158498 deg/s, posRepo size: 4
2021-08-14T16:51:10.400Z,1628959870.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:10.761Z,1628959870.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:10.761Z,1628959870.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:10.761Z,1628959870.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:10.762Z,1628959870.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:11.212Z,1628959871.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,003E9,188,80,80,5E,FF
2021-08-14T16:51:11.212Z,1628959871.212 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:11.212Z,1628959871.212 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:11.214Z,1628959871.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:11.594Z,1628959871.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:11.978Z,1628959871.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,0040A,187,80,80,4B,FF
2021-08-14T16:51:11.979Z,1628959871.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:12.058Z,1628959872.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:12.429Z,1628959872.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165113.04*5B

2021-08-14T16:51:12.445Z,1628959872.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 249.754145 deg, deltaT: 4.463179 s, approachRate: 0.443629 m/s, LOS rate: -3.474751 deg/s, posRepo size: 4
2021-08-14T16:51:14.858Z,1628959874.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:15.229Z,1628959875.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:15.229Z,1628959875.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:15.230Z,1628959875.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:15.231Z,1628959875.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:15.622Z,1628959875.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,0040A,187,80,80,4B,FF
2021-08-14T16:51:15.622Z,1628959875.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:15.622Z,1628959875.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:15.625Z,1628959875.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:16.022Z,1628959876.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:16.421Z,1628959876.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,0041F,185,80,80,32,FF
2021-08-14T16:51:16.421Z,1628959876.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:16.461Z,1628959876.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:16.871Z,1628959876.871 [Micromodem](INFO): Nmea in: $SNTTA,0.042892,,,,165117.46*42

2021-08-14T16:51:16.924Z,1628959876.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 240.335888 deg, deltaT: 4.403177 s, approachRate: 0.286157 m/s, LOS rate: -2.138969 deg/s, posRepo size: 4
2021-08-14T16:51:19.349Z,1628959879.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:19.665Z,1628959879.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:19.665Z,1628959879.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:19.665Z,1628959879.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:19.666Z,1628959879.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:20.065Z,1628959880.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,0041F,185,80,80,32,FF
2021-08-14T16:51:20.065Z,1628959880.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:20.065Z,1628959880.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:20.067Z,1628959880.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:20.465Z,1628959880.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:20.873Z,1628959880.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA8,000,00447,188,80,80,82,FF
2021-08-14T16:51:20.873Z,1628959880.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:20.941Z,1628959880.941 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:21.322Z,1628959881.322 [Micromodem](INFO): Nmea in: $SNTTA,0.036156,,,,165121.90*4E

2021-08-14T16:51:21.358Z,1628959881.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 279.379708 deg, deltaT: 4.480070 s, approachRate: 0.535706 m/s, LOS rate: 8.715002 deg/s, posRepo size: 4
2021-08-14T16:51:23.711Z,1628959883.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:24.105Z,1628959884.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:24.105Z,1628959884.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:24.105Z,1628959884.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:24.106Z,1628959884.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:24.506Z,1628959884.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA8,000,00447,188,80,80,82,FF
2021-08-14T16:51:24.506Z,1628959884.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:24.506Z,1628959884.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:24.507Z,1628959884.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:24.909Z,1628959884.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:25.309Z,1628959885.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,0046D,186,80,80,85,FF
2021-08-14T16:51:25.309Z,1628959885.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:25.369Z,1628959885.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:25.762Z,1628959885.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165126.34*5E

2021-08-14T16:51:25.845Z,1628959885.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 251.816562 deg, deltaT: 4.427827 s, approachRate: 0.514925 m/s, LOS rate: -6.224983 deg/s, posRepo size: 4
2021-08-14T16:51:28.183Z,1628959888.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:28.537Z,1628959888.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:28.537Z,1628959888.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:28.537Z,1628959888.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:28.538Z,1628959888.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:28.945Z,1628959888.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,0046D,186,80,80,85,FF
2021-08-14T16:51:28.945Z,1628959888.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:28.946Z,1628959888.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:28.947Z,1628959888.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:29.357Z,1628959889.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:29.757Z,1628959889.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00498,186,80,80,3F,FF
2021-08-14T16:51:29.758Z,1628959889.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:29.839Z,1628959889.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:30.197Z,1628959890.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165130.78*51

2021-08-14T16:51:30.239Z,1628959890.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.060001 m, bearing: 251.211735 deg, deltaT: 4.474441 s, approachRate: 0.576609 m/s, LOS rate: -0.135174 deg/s, posRepo size: 4
2021-08-14T16:51:32.625Z,1628959892.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:32.985Z,1628959892.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:32.985Z,1628959892.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:32.985Z,1628959892.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:32.986Z,1628959892.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:33.389Z,1628959893.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00498,186,80,80,3F,FF
2021-08-14T16:51:33.389Z,1628959893.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:33.389Z,1628959893.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:33.391Z,1628959893.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:33.826Z,1628959893.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:34.197Z,1628959894.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,004CF,187,80,80,53,FF
2021-08-14T16:51:34.198Z,1628959894.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:34.217Z,1628959894.217 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:34.645Z,1628959894.645 [Micromodem](INFO): Nmea in: $SNTTA,0.042579,,,,165135.23*49

2021-08-14T16:51:34.675Z,1628959894.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 255.183790 deg, deltaT: 4.373524 s, approachRate: 0.754540 m/s, LOS rate: 0.908205 deg/s, posRepo size: 4
2021-08-14T16:51:37.071Z,1628959897.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:37.437Z,1628959897.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:37.437Z,1628959897.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:37.437Z,1628959897.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:37.439Z,1628959897.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:37.853Z,1628959897.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,004CF,187,80,80,53,FF
2021-08-14T16:51:37.853Z,1628959897.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:37.853Z,1628959897.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:37.855Z,1628959897.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:38.244Z,1628959898.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:38.649Z,1628959898.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,004F8,186,80,80,2F,FF
2021-08-14T16:51:38.650Z,1628959898.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:38.669Z,1628959898.669 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:39.077Z,1628959899.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165139.69*58

2021-08-14T16:51:39.157Z,1628959899.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 249.316111 deg, deltaT: 4.452013 s, approachRate: 0.552559 m/s, LOS rate: -1.317983 deg/s, posRepo size: 4
2021-08-14T16:51:41.507Z,1628959901.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:41.869Z,1628959901.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:41.869Z,1628959901.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:41.869Z,1628959901.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:41.870Z,1628959901.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:42.273Z,1628959902.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,004F8,186,80,80,2F,FF
2021-08-14T16:51:42.273Z,1628959902.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:42.274Z,1628959902.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:42.275Z,1628959902.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:42.692Z,1628959902.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:43.093Z,1628959903.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,00529,187,80,80,9E,FF
2021-08-14T16:51:43.093Z,1628959903.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:43.218Z,1628959903.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:51:43.501Z,1628959903.501 [Micromodem](INFO): Nmea in: $SNTTA,0.377906,0.376631,,,165144.11*57

2021-08-14T16:51:43.547Z,1628959903.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 251.069148 deg, deltaT: 4.548830 s, approachRate: 0.646320 m/s, LOS rate: 0.385382 deg/s, posRepo size: 4
2021-08-14T16:51:43.941Z,1628959903.941 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:51:43.941Z,1628959903.941 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:51:43.942Z,1628959903.942 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:51:43.942Z,1628959903.942 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:51:43.942Z,1628959903.942 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:51:43.942Z,1628959903.942 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:51:44.334Z,1628959904.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:51:44.334Z,1628959904.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:51:44.334Z,1628959904.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:51:44.334Z,1628959904.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:51:45.945Z,1628959905.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:46.317Z,1628959906.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:46.317Z,1628959906.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:46.317Z,1628959906.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:46.318Z,1628959906.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:46.721Z,1628959906.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,00529,187,80,80,9E,FF
2021-08-14T16:51:46.721Z,1628959906.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:46.721Z,1628959906.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:46.723Z,1628959906.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:47.171Z,1628959907.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:47.537Z,1628959907.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00553,186,80,80,64,FF
2021-08-14T16:51:47.537Z,1628959907.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:47.978Z,1628959907.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 244.703685 deg, deltaT: 4.367728 s, approachRate: 0.576959 m/s, LOS rate: -1.457385 deg/s, posRepo size: 4
2021-08-14T16:51:50.406Z,1628959910.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:50.764Z,1628959910.764 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:50.764Z,1628959910.764 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:50.765Z,1628959910.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:50.766Z,1628959910.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:51.209Z,1628959911.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00553,186,80,80,64,FF
2021-08-14T16:51:51.209Z,1628959911.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:51.209Z,1628959911.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:51.211Z,1628959911.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:51.581Z,1628959911.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:51.973Z,1628959911.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00585,186,80,80,70,FF
2021-08-14T16:51:51.974Z,1628959911.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:52.399Z,1628959912.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165153.05*5E

2021-08-14T16:51:52.476Z,1628959912.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.280003 m, bearing: 242.905351 deg, deltaT: 4.445310 s, approachRate: 0.674869 m/s, LOS rate: -0.404546 deg/s, posRepo size: 4
2021-08-14T16:51:54.882Z,1628959914.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:55.229Z,1628959915.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:55.229Z,1628959915.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:55.229Z,1628959915.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:55.230Z,1628959915.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:51:55.610Z,1628959915.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00585,186,80,80,70,FF
2021-08-14T16:51:55.610Z,1628959915.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:51:55.610Z,1628959915.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:51:55.613Z,1628959915.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:51:56.022Z,1628959916.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:51:56.437Z,1628959916.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2F,000,005B5,186,80,80,71,FF
2021-08-14T16:51:56.437Z,1628959916.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:51:56.865Z,1628959916.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165157.44*5F

2021-08-14T16:51:56.915Z,1628959916.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 245.822087 deg, deltaT: 4.425726 s, approachRate: 0.650741 m/s, LOS rate: 0.659041 deg/s, posRepo size: 4
2021-08-14T16:51:59.303Z,1628959919.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:51:59.661Z,1628959919.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:51:59.661Z,1628959919.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:51:59.662Z,1628959919.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:51:59.662Z,1628959919.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:00.061Z,1628959920.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2F,000,005B5,186,80,80,71,FF
2021-08-14T16:52:00.061Z,1628959920.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:00.061Z,1628959920.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:00.063Z,1628959920.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:00.463Z,1628959920.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:00.866Z,1628959920.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,005E1,186,80,80,60,FF
2021-08-14T16:52:00.866Z,1628959920.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:01.305Z,1628959921.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165201.90*56

2021-08-14T16:52:01.369Z,1628959921.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 219.464988 deg, deltaT: 4.439322 s, approachRate: 0.594684 m/s, LOS rate: -5.937190 deg/s, posRepo size: 4
2021-08-14T16:52:03.718Z,1628959923.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:04.105Z,1628959924.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:04.105Z,1628959924.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:04.105Z,1628959924.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:04.106Z,1628959924.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:04.497Z,1628959924.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,005E1,186,80,80,60,FF
2021-08-14T16:52:04.497Z,1628959924.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:04.497Z,1628959924.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:04.499Z,1628959924.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:04.909Z,1628959924.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:05.309Z,1628959925.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00615,186,80,80,78,FF
2021-08-14T16:52:05.309Z,1628959925.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:05.313Z,1628959925.313 [Micromodem](INFO): Nmea in: $SNTTA,0.164662,0.265654,,,165206.33*5F

2021-08-14T16:52:05.829Z,1628959925.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 222.963930 deg, deltaT: 4.504828 s, approachRate: 0.692591 m/s, LOS rate: 0.776709 deg/s, posRepo size: 4
2021-08-14T16:52:08.177Z,1628959928.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:08.541Z,1628959928.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:08.541Z,1628959928.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:08.541Z,1628959928.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:08.542Z,1628959928.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:08.941Z,1628959928.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00615,186,80,80,78,FF
2021-08-14T16:52:08.941Z,1628959928.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:08.941Z,1628959928.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:08.943Z,1628959928.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:09.349Z,1628959929.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:09.757Z,1628959929.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,00647,185,80,80,67,FF
2021-08-14T16:52:09.757Z,1628959929.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:10.189Z,1628959930.189 [Micromodem](INFO): Nmea in: $SNTTA,0.048290,,,,165210.78*49

2021-08-14T16:52:10.232Z,1628959930.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 222.676926 deg, deltaT: 4.430376 s, approachRate: 0.677144 m/s, LOS rate: -0.064781 deg/s, posRepo size: 4
2021-08-14T16:52:12.632Z,1628959932.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:12.986Z,1628959932.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:12.986Z,1628959932.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:12.986Z,1628959932.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:12.987Z,1628959932.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:13.389Z,1628959933.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,00647,185,80,80,67,FF
2021-08-14T16:52:13.389Z,1628959933.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:13.389Z,1628959933.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:13.391Z,1628959933.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:13.819Z,1628959933.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:14.201Z,1628959934.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0067A,187,80,80,4A,FF
2021-08-14T16:52:14.201Z,1628959934.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:14.633Z,1628959934.633 [Micromodem](INFO): Nmea in: $SNTTA,0.055343,,,,165215.22*40

2021-08-14T16:52:14.663Z,1628959934.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 227.662349 deg, deltaT: 4.390163 s, approachRate: 0.697013 m/s, LOS rate: 1.135590 deg/s, posRepo size: 4
2021-08-14T16:52:17.069Z,1628959937.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:17.460Z,1628959937.460 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:17.461Z,1628959937.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:17.461Z,1628959937.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:17.462Z,1628959937.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:17.857Z,1628959937.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0067A,187,80,80,4A,FF
2021-08-14T16:52:17.857Z,1628959937.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:17.857Z,1628959937.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:17.859Z,1628959937.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:18.237Z,1628959938.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:18.649Z,1628959938.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,006B0,186,80,80,81,FF
2021-08-14T16:52:18.650Z,1628959938.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:19.067Z,1628959939.067 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165219.69*59

2021-08-14T16:52:19.093Z,1628959939.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 221.230114 deg, deltaT: 4.447215 s, approachRate: 0.728545 m/s, LOS rate: -1.446351 deg/s, posRepo size: 4
2021-08-14T16:52:21.527Z,1628959941.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:21.885Z,1628959941.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:21.885Z,1628959941.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:21.885Z,1628959941.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:21.886Z,1628959941.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:22.273Z,1628959942.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,006B0,186,80,80,81,FF
2021-08-14T16:52:22.273Z,1628959942.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:22.273Z,1628959942.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:22.275Z,1628959942.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:22.692Z,1628959942.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:23.081Z,1628959943.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,006E2,186,80,80,8E,FF
2021-08-14T16:52:23.082Z,1628959943.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:23.534Z,1628959943.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165224.11*58

2021-08-14T16:52:23.555Z,1628959943.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 225.335550 deg, deltaT: 4.552807 s, approachRate: 0.658932 m/s, LOS rate: 0.901737 deg/s, posRepo size: 4
2021-08-14T16:52:23.933Z,1628959943.933 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T16:52:23.933Z,1628959943.933 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T16:52:23.933Z,1628959943.933 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T16:52:23.933Z,1628959943.933 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T16:52:23.934Z,1628959943.934 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T16:52:24.540Z,1628959944.540 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B9BD1761300000005D00000400320000000000000000151D80030C5669C08C7A9735C072C40F548EA54C5B3B2F12F06E9B933423DDF4ECE0E7C327ED61716EE4
2021-08-14T16:52:24.541Z,1628959944.541 [Micromodem](INFO): Outgoing frame #2, 7 bytes: A97075ED019640
2021-08-14T16:52:24.541Z,1628959944.541 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T16:52:24.837Z,1628959944.837 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T16:52:25.242Z,1628959945.242 [Micromodem](INFO): Nmea in: $CADRQ,165226,1,10,0,64,1*72

2021-08-14T16:52:25.243Z,1628959945.243 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B9BD1761300000005D00000400320000000000000000151D80030C5669C08C7A9735C072C40F548EA54C5B3B2F12F06E9B933423DDF4ECE0E7C327ED61716EE4*3E

2021-08-14T16:52:25.623Z,1628959945.623 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T16:52:25.733Z,1628959945.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:26.021Z,1628959946.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:26.021Z,1628959946.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:26.021Z,1628959946.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:26.022Z,1628959946.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:26.053Z,1628959946.053 [Micromodem](INFO): Nmea in: $CADRQ,165227,1,10,0,64,2*70

2021-08-14T16:52:26.053Z,1628959946.053 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A97075ED019640*3F

2021-08-14T16:52:26.473Z,1628959946.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,006E2,186,80,80,8E,FF
2021-08-14T16:52:26.473Z,1628959946.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:26.473Z,1628959946.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:26.475Z,1628959946.475 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-14T16:52:26.476Z,1628959946.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:26.882Z,1628959946.882 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-14T16:52:26.882Z,1628959946.882 [Micromodem](ERROR): Response from modem unexpected: $CATXP,71*74

2021-08-14T16:52:28.515Z,1628959948.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:29.310Z,1628959949.310 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-14T16:52:29.310Z,1628959949.310 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-14T16:52:29.703Z,1628959949.703 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,165227.863671,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5C

2021-08-14T16:52:29.704Z,1628959949.704 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,165227.863671,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5C

2021-08-14T16:52:31.041Z,1628959951.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:31.783Z,1628959951.783 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T16:52:32.192Z,1628959952.192 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.170039
2021-08-14T16:52:32.195Z,1628959952.195 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T16:52:32.196Z,1628959952.196 [Micromodem](INFO): Sent 63 bytes from file Logs/20210814T125729/Courier0048.lzma.parts
2021-08-14T16:52:32.196Z,1628959952.196 [Micromodem](INFO): Packets left to send: 0
2021-08-14T16:52:32.607Z,1628959952.607 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814165232.614419,06,32767,45,0160,0150,37,03,03,00,03,1,010,001,0,4,1,0,150,2.2,4.20,11,-1.20,-01,0.57,55,14500,4000*5A

2021-08-14T16:52:32.608Z,1628959952.608 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814165232.614419,06,32767,45,0160,0150,37,03,03,00,03,1,010,001,0,4,1,0,150,2.2,4.20,11,-1.20,-01,0.57,55,14500,4000*5A

2021-08-14T16:52:33.281Z,1628959953.281 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T16:52:33.282Z,1628959953.282 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T16:52:33.282Z,1628959953.282 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T16:52:33.282Z,1628959953.282 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T16:52:33.282Z,1628959953.282 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T16:52:33.847Z,1628959953.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:34.201Z,1628959954.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:34.201Z,1628959954.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:34.202Z,1628959954.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:34.203Z,1628959954.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:34.615Z,1628959954.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,006E2,186,80,80,8E,FF
2021-08-14T16:52:34.615Z,1628959954.615 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:34.615Z,1628959954.615 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:36.663Z,1628959956.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:37.845Z,1628959957.845 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:38.244Z,1628959958.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:38.645Z,1628959958.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00793,189,80,80,99,FF
2021-08-14T16:52:38.646Z,1628959958.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:39.085Z,1628959959.085 [Micromodem](INFO): Nmea in: $SNTTA,0.061705,,,,165239.68*41

2021-08-14T16:52:39.191Z,1628959959.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 205.668976 deg, deltaT: 15.444249 s, approachRate: 0.687635 m/s, LOS rate: -1.273391 deg/s, posRepo size: 4
2021-08-14T16:52:41.230Z,1628959961.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:41.507Z,1628959961.507 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:41.507Z,1628959961.507 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:41.507Z,1628959961.507 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:41.508Z,1628959961.508 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:41.865Z,1628959961.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00793,189,80,80,99,FF
2021-08-14T16:52:41.865Z,1628959961.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:41.866Z,1628959961.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:41.867Z,1628959961.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:42.272Z,1628959962.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:42.685Z,1628959962.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,007C0,186,80,80,7F,FF
2021-08-14T16:52:42.685Z,1628959962.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:43.132Z,1628959963.132 [Micromodem](INFO): Nmea in: $SNTTA,0.055651,,,,165243.70*42

2021-08-14T16:52:43.211Z,1628959963.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 214.640771 deg, deltaT: 4.065903 s, approachRate: 0.664058 m/s, LOS rate: 2.206594 deg/s, posRepo size: 4
2021-08-14T16:52:45.557Z,1628959965.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:45.909Z,1628959965.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:45.909Z,1628959965.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:45.909Z,1628959965.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:45.910Z,1628959965.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:46.313Z,1628959966.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,007C0,186,80,80,7F,FF
2021-08-14T16:52:46.313Z,1628959966.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:46.313Z,1628959966.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:46.315Z,1628959966.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:46.728Z,1628959966.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:47.128Z,1628959967.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,007F5,186,80,80,99,FF
2021-08-14T16:52:47.130Z,1628959967.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:47.590Z,1628959967.590 [Micromodem](INFO): Nmea in: $SNTTA,0.064128,,,,165248.15*41

2021-08-14T16:52:47.677Z,1628959967.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 252.361693 deg, deltaT: 4.510532 s, approachRate: 0.705015 m/s, LOS rate: 8.362855 deg/s, posRepo size: 4
2021-08-14T16:52:49.989Z,1628959969.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:50.361Z,1628959970.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:50.361Z,1628959970.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:50.361Z,1628959970.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:50.362Z,1628959970.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:50.764Z,1628959970.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,007F5,186,80,80,99,FF
2021-08-14T16:52:50.765Z,1628959970.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:50.765Z,1628959970.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:50.771Z,1628959970.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:51.200Z,1628959971.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:51.577Z,1628959971.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00827,186,80,80,86,FF
2021-08-14T16:52:51.577Z,1628959971.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:52.009Z,1628959972.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165252.60*5F

2021-08-14T16:52:52.061Z,1628959972.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.720001 m, bearing: 248.998289 deg, deltaT: 4.480001 s, approachRate: 0.669644 m/s, LOS rate: -0.750760 deg/s, posRepo size: 4
2021-08-14T16:52:54.443Z,1628959974.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:54.806Z,1628959974.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:54.807Z,1628959974.807 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:54.807Z,1628959974.807 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:54.808Z,1628959974.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:55.225Z,1628959975.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00827,186,80,80,86,FF
2021-08-14T16:52:55.225Z,1628959975.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:55.225Z,1628959975.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:55.227Z,1628959975.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:52:55.629Z,1628959975.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:52:56.017Z,1628959976.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0085B,186,80,80,94,FF
2021-08-14T16:52:56.017Z,1628959976.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:52:56.437Z,1628959976.437 [Micromodem](INFO): Nmea in: $SNTTA,0.074284,,,,165257.06*49

2021-08-14T16:52:56.472Z,1628959976.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.840004 m, bearing: 250.494893 deg, deltaT: 4.360866 s, approachRate: 0.715455 m/s, LOS rate: 0.343190 deg/s, posRepo size: 4
2021-08-14T16:52:58.885Z,1628959978.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:52:59.254Z,1628959979.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:52:59.254Z,1628959979.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:52:59.254Z,1628959979.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:52:59.255Z,1628959979.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:52:59.657Z,1628959979.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0085B,186,80,80,94,FF
2021-08-14T16:52:59.657Z,1628959979.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:52:59.657Z,1628959979.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:52:59.659Z,1628959979.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:00.078Z,1628959980.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:00.454Z,1628959980.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,0088F,186,80,80,7C,FF
2021-08-14T16:53:00.454Z,1628959980.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:00.901Z,1628959980.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165301.49*53

2021-08-14T16:53:00.935Z,1628959980.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.960007 m, bearing: 247.506002 deg, deltaT: 4.395299 s, approachRate: 0.709850 m/s, LOS rate: -0.680020 deg/s, posRepo size: 4
2021-08-14T16:53:03.378Z,1628959983.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:03.689Z,1628959983.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:03.689Z,1628959983.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:03.689Z,1628959983.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:03.690Z,1628959983.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:03.697Z,1628959983.697 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T16:53:04.098Z,1628959984.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,0088F,186,80,80,7C,FF
2021-08-14T16:53:04.098Z,1628959984.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:04.099Z,1628959984.099 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:04.102Z,1628959984.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:04.501Z,1628959984.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:04.903Z,1628959984.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,008C4,186,80,80,9C,FF
2021-08-14T16:53:04.903Z,1628959984.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:05.333Z,1628959985.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165305.94*57

2021-08-14T16:53:05.381Z,1628959985.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.139999 m, bearing: 249.121834 deg, deltaT: 4.505106 s, approachRate: 0.705864 m/s, LOS rate: 0.358667 deg/s, posRepo size: 4
2021-08-14T16:53:07.757Z,1628959987.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:08.134Z,1628959988.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:08.134Z,1628959988.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:08.135Z,1628959988.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:08.135Z,1628959988.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:08.533Z,1628959988.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,008C4,186,80,80,9C,FF
2021-08-14T16:53:08.533Z,1628959988.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:08.534Z,1628959988.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:08.535Z,1628959988.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:08.945Z,1628959988.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:09.337Z,1628959989.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,008F8,186,80,80,97,FF
2021-08-14T16:53:09.338Z,1628959989.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:09.810Z,1628959989.810 [Micromodem](INFO): Nmea in: $SNTTA,0.075275,,,,165310.37*46

2021-08-14T16:53:09.862Z,1628959989.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 248.497609 deg, deltaT: 4.437587 s, approachRate: 0.703085 m/s, LOS rate: -0.140668 deg/s, posRepo size: 4
2021-08-14T16:53:12.198Z,1628959992.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:12.573Z,1628959992.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:12.573Z,1628959992.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:12.573Z,1628959992.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:12.574Z,1628959992.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:12.985Z,1628959992.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,008F8,186,80,80,97,FF
2021-08-14T16:53:12.985Z,1628959992.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:12.985Z,1628959992.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:12.987Z,1628959992.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:13.381Z,1628959993.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:13.808Z,1628959993.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,0092D,186,80,80,84,FF
2021-08-14T16:53:13.808Z,1628959993.808 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:14.232Z,1628959994.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.440002 m, bearing: 253.832533 deg, deltaT: 4.455386 s, approachRate: 0.713743 m/s, LOS rate: 1.197410 deg/s, posRepo size: 4
2021-08-14T16:53:16.641Z,1628959996.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:17.009Z,1628959997.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:17.009Z,1628959997.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:17.009Z,1628959997.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:17.010Z,1628959997.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:17.417Z,1628959997.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,0092D,186,80,80,84,FF
2021-08-14T16:53:17.417Z,1628959997.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:17.417Z,1628959997.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:17.419Z,1628959997.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:17.853Z,1628959997.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:18.225Z,1628959998.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8F,000,00960,185,80,80,8C,FF
2021-08-14T16:53:18.225Z,1628959998.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:18.661Z,1628959998.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165319.25*50

2021-08-14T16:53:18.696Z,1628959998.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 253.648227 deg, deltaT: 4.368998 s, approachRate: 0.700389 m/s, LOS rate: -0.042185 deg/s, posRepo size: 4
2021-08-14T16:53:21.077Z,1628960001.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:21.465Z,1628960001.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:21.466Z,1628960001.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:21.466Z,1628960001.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:21.467Z,1628960001.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:21.861Z,1628960001.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8F,000,00960,185,80,80,8C,FF
2021-08-14T16:53:21.861Z,1628960001.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:21.861Z,1628960001.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:21.863Z,1628960001.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:22.277Z,1628960002.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:22.677Z,1628960002.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00995,186,80,80,98,FF
2021-08-14T16:53:22.678Z,1628960002.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:23.112Z,1628960003.112 [Micromodem](INFO): Nmea in: $SNTTA,0.075570,,,,165323.70*47

2021-08-14T16:53:23.212Z,1628960003.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.680000 m, bearing: 253.566484 deg, deltaT: 4.451643 s, approachRate: 0.714343 m/s, LOS rate: -0.018363 deg/s, posRepo size: 4
2021-08-14T16:53:25.207Z,1628960005.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:25.497Z,1628960005.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:25.497Z,1628960005.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:25.497Z,1628960005.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:25.498Z,1628960005.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:25.906Z,1628960005.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00995,186,80,80,98,FF
2021-08-14T16:53:25.906Z,1628960005.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:25.906Z,1628960005.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:25.907Z,1628960005.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:26.308Z,1628960006.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:26.721Z,1628960006.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,009C2,186,80,80,97,FF
2021-08-14T16:53:26.721Z,1628960006.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:27.183Z,1628960007.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165327.74*59

2021-08-14T16:53:27.265Z,1628960007.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.379997 m, bearing: 249.862199 deg, deltaT: 4.044027 s, approachRate: 0.667651 m/s, LOS rate: -0.915989 deg/s, posRepo size: 4
2021-08-14T16:53:29.588Z,1628960009.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:29.941Z,1628960009.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:29.941Z,1628960009.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:29.941Z,1628960009.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:29.942Z,1628960009.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:30.350Z,1628960010.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,009C2,186,80,80,97,FF
2021-08-14T16:53:30.350Z,1628960010.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:30.350Z,1628960010.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:30.352Z,1628960010.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:30.753Z,1628960010.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:31.563Z,1628960011.563 [Micromodem](INFO): Nmea in: $SNTTA,0.337525,0.337950,,,165332.18*59

2021-08-14T16:53:32.383Z,1628960012.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:33.977Z,1628960013.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,97,FF
2021-08-14T16:53:33.978Z,1628960013.978 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,97,FF
2021-08-14T16:53:33.978Z,1628960013.978 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:53:35.275Z,1628960015.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:35.597Z,1628960015.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:35.598Z,1628960015.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:35.598Z,1628960015.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:35.599Z,1628960015.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:36.001Z,1628960016.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,97,FF
2021-08-14T16:53:36.001Z,1628960016.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:36.001Z,1628960016.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:36.003Z,1628960016.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:36.405Z,1628960016.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:37.241Z,1628960017.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,019F8,186,80,80,6B,FF
2021-08-14T16:53:37.241Z,1628960017.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:37.245Z,1628960017.245 [Micromodem](INFO): Nmea in: $SNTTA,0.240453,,,,165337.84*4D

2021-08-14T16:53:37.652Z,1628960017.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.380005 m, bearing: 251.529994 deg, deltaT: 10.580159 s, approachRate: 23.534618 m/s, LOS rate: 0.157634 deg/s, posRepo size: 4
2021-08-14T16:53:37.652Z,1628960017.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 361.38 m. Resuming terminal guidance.
2021-08-14T16:53:37.652Z,1628960017.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:53:40.089Z,1628960020.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:40.445Z,1628960020.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:40.445Z,1628960020.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:40.445Z,1628960020.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:40.446Z,1628960020.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:40.865Z,1628960020.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,019F8,186,80,80,6B,FF
2021-08-14T16:53:40.865Z,1628960020.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:40.865Z,1628960020.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:40.867Z,1628960020.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:41.265Z,1628960021.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:41.661Z,1628960021.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,00A7A,186,80,80,5E,FF
2021-08-14T16:53:41.662Z,1628960021.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:42.101Z,1628960022.101 [Micromodem](INFO): Nmea in: $SNTTA,0.088619,,,,165342.70*4E

2021-08-14T16:53:42.127Z,1628960022.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.420006 m, bearing: 260.530299 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:53:42.148Z,1628960022.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 260.530299deg and heading rate command to 0 deg/s.
2021-08-14T16:53:44.512Z,1628960024.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:44.910Z,1628960024.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:44.910Z,1628960024.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:44.910Z,1628960024.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:44.911Z,1628960024.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:45.297Z,1628960025.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,00A7A,186,80,80,5E,FF
2021-08-14T16:53:45.297Z,1628960025.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:45.297Z,1628960025.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:45.299Z,1628960025.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:45.706Z,1628960025.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:46.538Z,1628960026.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165347.13*5E

2021-08-14T16:53:47.359Z,1628960027.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:48.943Z,1628960028.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,5E,FF
2021-08-14T16:53:48.943Z,1628960028.943 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,5E,FF
2021-08-14T16:53:48.944Z,1628960028.944 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:53:50.189Z,1628960030.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:50.553Z,1628960030.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:50.553Z,1628960030.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:50.553Z,1628960030.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:50.554Z,1628960030.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:50.965Z,1628960030.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,5E,FF
2021-08-14T16:53:50.965Z,1628960030.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:50.965Z,1628960030.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:50.967Z,1628960030.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:51.364Z,1628960031.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:51.769Z,1628960031.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00AF6,187,80,80,36,FF
2021-08-14T16:53:51.770Z,1628960031.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:52.193Z,1628960032.193 [Micromodem](INFO): Nmea in: $SNTTA,0.117818,,,,165352.80*48

2021-08-14T16:53:52.246Z,1628960032.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.860001 m, bearing: 265.651110 deg, deltaT: 10.151996 s, approachRate: 0.732860 m/s, LOS rate: 0.504414 deg/s, posRepo size: 2
2021-08-14T16:53:52.248Z,1628960032.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.860001 m,
      bearing: 265.651110 deg,
      approachRate: 0.732860 m/s,
      LOS rate: 0.504414 deg/s,
      cmd update: 1.513243 deg/s,
      cmd heading: 260.530299 deg,
      new cmd heading: 260.530299 deg.

2021-08-14T16:53:54.645Z,1628960034.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:54.997Z,1628960034.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:54.997Z,1628960034.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:54.997Z,1628960034.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:54.998Z,1628960034.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:55.413Z,1628960035.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00AF6,187,80,80,36,FF
2021-08-14T16:53:55.413Z,1628960035.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:55.413Z,1628960035.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:55.415Z,1628960035.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:53:55.898Z,1628960035.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:53:56.289Z,1628960036.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00B14,186,80,80,A1,FF
2021-08-14T16:53:56.289Z,1628960036.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:53:56.705Z,1628960036.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165357.25*5A

2021-08-14T16:53:56.746Z,1628960036.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.660004 m, bearing: 284.429103 deg, deltaT: 4.503984 s, approachRate: 0.399647 m/s, LOS rate: 4.169196 deg/s, posRepo size: 3
2021-08-14T16:53:56.749Z,1628960036.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.660004 m,
      bearing: 284.429103 deg,
      approachRate: 0.399647 m/s,
      LOS rate: 4.169196 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 267.346056 deg,
      new cmd heading: 267.960794 deg.

2021-08-14T16:53:59.205Z,1628960039.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:53:59.521Z,1628960039.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:53:59.521Z,1628960039.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:53:59.521Z,1628960039.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:53:59.522Z,1628960039.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:53:59.929Z,1628960039.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00B14,186,80,80,A1,FF
2021-08-14T16:53:59.929Z,1628960039.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:53:59.930Z,1628960039.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:53:59.931Z,1628960039.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:00.333Z,1628960040.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:00.741Z,1628960040.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,00B3D,189,80,80,9B,FF
2021-08-14T16:54:00.743Z,1628960040.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:01.193Z,1628960041.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165401.76*58

2021-08-14T16:54:01.274Z,1628960041.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.119995 m, bearing: 304.997453 deg, deltaT: 4.471300 s, approachRate: 0.550174 m/s, LOS rate: 4.600083 deg/s, posRepo size: 4
2021-08-14T16:54:01.281Z,1628960041.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.119995 m,
      bearing: 304.997453 deg,
      approachRate: 0.550174 m/s,
      LOS rate: 4.600083 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 320.585150 deg,
      new cmd heading: 326.608670 deg.

2021-08-14T16:54:03.589Z,1628960043.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:03.974Z,1628960043.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:03.974Z,1628960043.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:03.974Z,1628960043.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:03.975Z,1628960043.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:04.373Z,1628960044.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,00B3D,189,80,80,9B,FF
2021-08-14T16:54:04.373Z,1628960044.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:04.373Z,1628960044.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:04.375Z,1628960044.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:04.803Z,1628960044.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:05.223Z,1628960045.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00B62,186,80,80,87,FF
2021-08-14T16:54:05.253Z,1628960045.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:05.261Z,1628960045.261 [Micromodem](INFO): Nmea in: $SNTTA,0.326300,0.326144,,,165406.21*5F

2021-08-14T16:54:05.635Z,1628960045.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.339996 m, bearing: 304.809896 deg, deltaT: 4.529999 s, approachRate: 0.490067 m/s, LOS rate: -0.041403 deg/s, posRepo size: 4
2021-08-14T16:54:05.640Z,1628960045.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.339996 m,
      bearing: 304.809896 deg,
      approachRate: 0.490067 m/s,
      LOS rate: -0.041403 deg/s,
      cmd update: -0.124210 deg/s,
      cmd heading: 15.306554 deg,
      new cmd heading: 18.940419 deg.

2021-08-14T16:54:08.051Z,1628960048.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:08.428Z,1628960048.428 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:08.429Z,1628960048.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:08.429Z,1628960048.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:08.430Z,1628960048.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:08.854Z,1628960048.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00B62,186,80,80,87,FF
2021-08-14T16:54:08.854Z,1628960048.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:08.854Z,1628960048.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:08.855Z,1628960048.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:09.245Z,1628960049.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:09.630Z,1628960049.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00B6D,186,80,80,87,FF
2021-08-14T16:54:09.630Z,1628960049.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:10.067Z,1628960050.067 [Micromodem](INFO): Nmea in: $SNTTA,0.043362,,,,165410.69*48

2021-08-14T16:54:10.126Z,1628960050.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.000000 m, bearing: 290.553898 deg, deltaT: 4.342976 s, approachRate: 0.151970 m/s, LOS rate: -3.282541 deg/s, posRepo size: 4
2021-08-14T16:54:10.129Z,1628960050.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.000000 m,
      bearing: 290.553898 deg,
      approachRate: 0.151970 m/s,
      LOS rate: -3.282541 deg/s,
      cmd update: -9.847624 deg/s,
      cmd heading: 14.766772 deg,
      new cmd heading: 14.711131 deg.

2021-08-14T16:54:12.490Z,1628960052.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:12.857Z,1628960052.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:12.857Z,1628960052.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:12.857Z,1628960052.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:12.858Z,1628960052.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:13.273Z,1628960053.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00B6D,186,80,80,87,FF
2021-08-14T16:54:13.273Z,1628960053.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:13.273Z,1628960053.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:13.275Z,1628960053.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:13.684Z,1628960053.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:14.085Z,1628960054.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D95,000,00B72,188,80,80,BA,FF
2021-08-14T16:54:14.086Z,1628960054.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:14.514Z,1628960054.514 [Micromodem](INFO): Nmea in: $SNTTA,0.091840,,,,165415.11*46

2021-08-14T16:54:14.536Z,1628960054.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.300003 m, bearing: 4.502684 deg, deltaT: 4.474278 s, approachRate: 0.067051 m/s, LOS rate: 16.527535 deg/s, posRepo size: 4
2021-08-14T16:54:14.537Z,1628960054.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.527535 deg/s. Setting heading cmd to target bearing of 4.502684deg and heading rate command to 0 deg/s.
2021-08-14T16:54:16.933Z,1628960056.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:17.298Z,1628960057.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:17.298Z,1628960057.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:17.299Z,1628960057.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:17.299Z,1628960057.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:17.705Z,1628960057.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D95,000,00B72,188,80,80,BA,FF
2021-08-14T16:54:17.705Z,1628960057.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:17.705Z,1628960057.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:17.707Z,1628960057.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:18.137Z,1628960058.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:18.940Z,1628960058.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165419.54*51

2021-08-14T16:54:19.810Z,1628960059.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:21.343Z,1628960061.343 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,188,80,80,BA,FF
2021-08-14T16:54:21.343Z,1628960061.343 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,188,80,80,BA,FF
2021-08-14T16:54:21.344Z,1628960061.344 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:54:22.605Z,1628960062.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:22.957Z,1628960062.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:22.957Z,1628960062.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:22.957Z,1628960062.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:22.958Z,1628960062.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:23.365Z,1628960063.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,188,80,80,BA,FF
2021-08-14T16:54:23.366Z,1628960063.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:23.366Z,1628960063.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:23.367Z,1628960063.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:23.780Z,1628960063.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:24.177Z,1628960064.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00B59,18A,80,80,A5,FF
2021-08-14T16:54:24.178Z,1628960064.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:24.614Z,1628960064.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165425.20*5D

2021-08-14T16:54:24.662Z,1628960064.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.800003 m, bearing: 59.647912 deg, deltaT: 10.035663 s, approachRate: -0.149467 m/s, LOS rate: 5.494926 deg/s, posRepo size: 4
2021-08-14T16:54:24.666Z,1628960064.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.800003 m,
      bearing: 59.647912 deg,
      approachRate: -0.149467 m/s,
      LOS rate: 5.494926 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.502684 deg,
      new cmd heading: 4.502684 deg.

2021-08-14T16:54:27.025Z,1628960067.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:27.401Z,1628960067.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:27.401Z,1628960067.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:27.401Z,1628960067.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:27.402Z,1628960067.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:27.844Z,1628960067.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00B59,18A,80,80,A5,FF
2021-08-14T16:54:27.845Z,1628960067.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:27.845Z,1628960067.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:27.848Z,1628960067.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:28.222Z,1628960068.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:28.614Z,1628960068.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF8,000,00B59,18A,80,80,A5,FF
2021-08-14T16:54:28.614Z,1628960068.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:29.057Z,1628960069.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165429.68*5D

2021-08-14T16:54:29.083Z,1628960069.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.800003 m, bearing: 49.910900 deg, deltaT: 4.480186 s, approachRate: 0.000000 m/s, LOS rate: -2.173350 deg/s, posRepo size: 4
2021-08-14T16:54:29.085Z,1628960069.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.800003 m,
      bearing: 49.910900 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.173350 deg/s,
      cmd update: -6.520050 deg/s,
      cmd heading: 58.122850 deg,
      new cmd heading: 63.167495 deg.

2021-08-14T16:54:31.502Z,1628960071.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:31.849Z,1628960071.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:31.849Z,1628960071.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:31.849Z,1628960071.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:31.850Z,1628960071.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:32.261Z,1628960072.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF8,000,00B59,18A,80,80,A5,FF
2021-08-14T16:54:32.262Z,1628960072.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:32.262Z,1628960072.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:32.263Z,1628960072.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:32.669Z,1628960072.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:33.069Z,1628960073.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,00B1D,187,80,80,A0,FF
2021-08-14T16:54:33.070Z,1628960073.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:33.501Z,1628960073.501 [Micromodem](INFO): Nmea in: $SNTTA,0.103864,,,,165434.10*48

2021-08-14T16:54:33.580Z,1628960073.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.199997 m, bearing: 6.251709 deg, deltaT: 4.514252 s, approachRate: -0.797476 m/s, LOS rate: -9.671412 deg/s, posRepo size: 4
2021-08-14T16:54:33.583Z,1628960073.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.199997 m,
      bearing: 6.251709 deg,
      approachRate: -0.797476 m/s,
      LOS rate: -9.671412 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 28.824987 deg,
      new cmd heading: 26.097761 deg.

2021-08-14T16:54:35.918Z,1628960075.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:36.302Z,1628960076.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:36.302Z,1628960076.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:36.302Z,1628960076.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:36.303Z,1628960076.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:36.697Z,1628960076.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,00B1D,187,80,80,A0,FF
2021-08-14T16:54:36.697Z,1628960076.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:36.697Z,1628960076.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:36.699Z,1628960076.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:37.106Z,1628960077.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:37.509Z,1628960077.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,00AF7,186,80,80,82,FF
2021-08-14T16:54:37.510Z,1628960077.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:37.945Z,1628960077.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165438.53*55

2021-08-14T16:54:37.971Z,1628960077.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.919998 m, bearing: 59.950128 deg, deltaT: 4.422217 s, approachRate: -0.515578 m/s, LOS rate: 12.142873 deg/s, posRepo size: 4
2021-08-14T16:54:37.992Z,1628960077.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.142873 deg/s. Setting heading cmd to target bearing of 59.950128deg and heading rate command to 0 deg/s.
2021-08-14T16:54:40.361Z,1628960080.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:40.741Z,1628960080.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:40.741Z,1628960080.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:40.742Z,1628960080.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:40.743Z,1628960080.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:41.161Z,1628960081.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,00AF7,186,80,80,82,FF
2021-08-14T16:54:41.161Z,1628960081.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:41.162Z,1628960081.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:41.173Z,1628960081.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:41.554Z,1628960081.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:41.946Z,1628960081.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,00AC9,18A,80,80,82,FF
2021-08-14T16:54:41.946Z,1628960081.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:42.375Z,1628960082.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165443.01*5E

2021-08-14T16:54:42.412Z,1628960082.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.160004 m, bearing: 66.677700 deg, deltaT: 4.409497 s, approachRate: -0.625920 m/s, LOS rate: 1.525701 deg/s, posRepo size: 4
2021-08-14T16:54:42.414Z,1628960082.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.160004 m,
      bearing: 66.677700 deg,
      approachRate: -0.625920 m/s,
      LOS rate: 1.525701 deg/s,
      cmd update: 4.577102 deg/s,
      cmd heading: 59.950128 deg,
      new cmd heading: 59.950128 deg.

2021-08-14T16:54:44.851Z,1628960084.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:45.233Z,1628960085.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:45.233Z,1628960085.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:45.233Z,1628960085.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:45.234Z,1628960085.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:45.586Z,1628960085.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,00AC9,18A,80,80,82,FF
2021-08-14T16:54:45.586Z,1628960085.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:45.586Z,1628960085.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:45.589Z,1628960085.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:45.989Z,1628960085.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:46.401Z,1628960086.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B92,000,00AA6,189,80,80,AD,FF
2021-08-14T16:54:46.402Z,1628960086.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:46.849Z,1628960086.849 [Micromodem](INFO): Nmea in: $SNTTA,0.110039,,,,165447.42*49

2021-08-14T16:54:46.886Z,1628960086.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.060005 m, bearing: 71.208390 deg, deltaT: 4.398069 s, approachRate: -0.477482 m/s, LOS rate: 1.030154 deg/s, posRepo size: 4
2021-08-14T16:54:46.916Z,1628960086.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.060005 m,
      bearing: 71.208390 deg,
      approachRate: -0.477482 m/s,
      LOS rate: 1.030154 deg/s,
      cmd update: 3.090463 deg/s,
      cmd heading: 80.085600 deg,
      new cmd heading: 82.225820 deg.

2021-08-14T16:54:49.281Z,1628960089.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:49.629Z,1628960089.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:49.629Z,1628960089.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:49.629Z,1628960089.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:49.630Z,1628960089.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:50.033Z,1628960090.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B92,000,00AA6,189,80,80,AD,FF
2021-08-14T16:54:50.033Z,1628960090.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:50.033Z,1628960090.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:50.035Z,1628960090.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:50.441Z,1628960090.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:50.857Z,1628960090.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE4,000,00A84,189,80,80,5F,FF
2021-08-14T16:54:50.858Z,1628960090.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:51.269Z,1628960091.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165451.87*53

2021-08-14T16:54:51.317Z,1628960091.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.020004 m, bearing: 60.825833 deg, deltaT: 4.485182 s, approachRate: -0.454831 m/s, LOS rate: -2.314857 deg/s, posRepo size: 4
2021-08-14T16:54:51.319Z,1628960091.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 60.825833 deg,
      approachRate: -0.454831 m/s,
      LOS rate: -2.314857 deg/s,
      cmd update: -6.944572 deg/s,
      cmd heading: 93.946273 deg,
      new cmd heading: 95.225657 deg.

2021-08-14T16:54:53.682Z,1628960093.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:54.060Z,1628960094.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:54.060Z,1628960094.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:54.061Z,1628960094.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:54.062Z,1628960094.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:54.477Z,1628960094.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE4,000,00A84,189,80,80,5F,FF
2021-08-14T16:54:54.478Z,1628960094.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:54.478Z,1628960094.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:54.479Z,1628960094.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:54.877Z,1628960094.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:55.285Z,1628960095.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,00A5E,189,80,80,A1,FF
2021-08-14T16:54:55.285Z,1628960095.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:54:55.721Z,1628960095.721 [Micromodem](INFO): Nmea in: $SNTTA,0.089334,,,,165456.32*41

2021-08-14T16:54:55.756Z,1628960095.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.740005 m, bearing: 9.398449 deg, deltaT: 4.455465 s, approachRate: -0.511731 m/s, LOS rate: -11.542540 deg/s, posRepo size: 4
2021-08-14T16:54:55.757Z,1628960095.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.542540 deg/s. Setting heading cmd to target bearing of 9.398449deg and heading rate command to 0 deg/s.
2021-08-14T16:54:58.153Z,1628960098.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:54:58.509Z,1628960098.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:54:58.509Z,1628960098.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:54:58.509Z,1628960098.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:54:58.510Z,1628960098.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:54:58.921Z,1628960098.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,00A5E,189,80,80,A1,FF
2021-08-14T16:54:58.921Z,1628960098.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:54:58.921Z,1628960098.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:54:58.923Z,1628960098.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:54:59.325Z,1628960099.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:54:59.725Z,1628960099.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,00A37,186,80,80,A3,FF
2021-08-14T16:54:59.726Z,1628960099.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:00.165Z,1628960100.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165500.76*58

2021-08-14T16:55:00.216Z,1628960100.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.400002 m, bearing: 63.030584 deg, deltaT: 4.387743 s, approachRate: -0.533305 m/s, LOS rate: 12.223172 deg/s, posRepo size: 4
2021-08-14T16:55:00.217Z,1628960100.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.223172 deg/s. Setting heading cmd to target bearing of 63.030584deg and heading rate command to 0 deg/s.
2021-08-14T16:55:02.571Z,1628960102.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:02.957Z,1628960102.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:02.957Z,1628960102.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:02.958Z,1628960102.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:02.959Z,1628960102.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:03.354Z,1628960103.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,00A37,186,80,80,A3,FF
2021-08-14T16:55:03.354Z,1628960103.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:03.354Z,1628960103.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:03.356Z,1628960103.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:03.785Z,1628960103.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:04.165Z,1628960104.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00A09,186,80,80,AC,FF
2021-08-14T16:55:04.166Z,1628960104.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:04.610Z,1628960104.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165505.19*54

2021-08-14T16:55:04.644Z,1628960104.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.640007 m, bearing: 60.950928 deg, deltaT: 4.436083 s, approachRate: -0.622169 m/s, LOS rate: -0.468805 deg/s, posRepo size: 4
2021-08-14T16:55:04.646Z,1628960104.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 60.950928 deg,
      approachRate: -0.622169 m/s,
      LOS rate: -0.468805 deg/s,
      cmd update: -1.406414 deg/s,
      cmd heading: 63.030584 deg,
      new cmd heading: 63.030584 deg.

2021-08-14T16:55:07.026Z,1628960107.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:07.409Z,1628960107.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:07.409Z,1628960107.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:07.409Z,1628960107.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:07.410Z,1628960107.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:07.841Z,1628960107.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00A09,186,80,80,AC,FF
2021-08-14T16:55:07.841Z,1628960107.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:07.841Z,1628960107.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:07.843Z,1628960107.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:08.221Z,1628960108.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:08.614Z,1628960108.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,009DC,189,80,80,A3,FF
2021-08-14T16:55:08.615Z,1628960108.615 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:09.031Z,1628960109.031 [Micromodem](INFO): Nmea in: $SNTTA,0.075661,,,,165509.68*43

2021-08-14T16:55:09.079Z,1628960109.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 67.827590 deg, deltaT: 4.487103 s, approachRate: -0.601726 m/s, LOS rate: 1.532539 deg/s, posRepo size: 4
2021-08-14T16:55:09.081Z,1628960109.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.940002 m,
      bearing: 67.827590 deg,
      approachRate: -0.601726 m/s,
      LOS rate: 1.532539 deg/s,
      cmd update: 4.597618 deg/s,
      cmd heading: 56.725570 deg,
      new cmd heading: 56.143952 deg.

2021-08-14T16:55:09.452Z,1628960109.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T16:55:11.485Z,1628960111.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:11.845Z,1628960111.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:11.845Z,1628960111.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:11.846Z,1628960111.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:11.847Z,1628960111.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:12.250Z,1628960112.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,009DC,189,80,80,A3,FF
2021-08-14T16:55:12.251Z,1628960112.251 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:12.251Z,1628960112.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:12.253Z,1628960112.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:12.693Z,1628960112.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:13.082Z,1628960113.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,009B2,186,80,80,81,FF
2021-08-14T16:55:13.082Z,1628960113.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:13.506Z,1628960113.506 [Micromodem](INFO): Nmea in: $SNTTA,0.387786,0.386911,,,165514.09*54

2021-08-14T16:55:13.552Z,1628960113.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.419998 m, bearing: 65.051685 deg, deltaT: 4.490026 s, approachRate: -0.561245 m/s, LOS rate: -0.618238 deg/s, posRepo size: 4
2021-08-14T16:55:13.554Z,1628960113.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.419998 m,
      bearing: 65.051685 deg,
      approachRate: -0.561245 m/s,
      LOS rate: -0.618238 deg/s,
      cmd update: -1.854714 deg/s,
      cmd heading: 77.177848 deg,
      new cmd heading: 79.189136 deg.

2021-08-14T16:55:15.948Z,1628960115.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:16.309Z,1628960116.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:16.309Z,1628960116.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:16.309Z,1628960116.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:16.310Z,1628960116.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:16.717Z,1628960116.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,009B2,186,80,80,81,FF
2021-08-14T16:55:16.717Z,1628960116.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:16.717Z,1628960116.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:16.719Z,1628960116.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:17.125Z,1628960117.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:17.188Z,1628960117.188 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:55:17.537Z,1628960117.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00987,184,80,80,AB,FF
2021-08-14T16:55:17.537Z,1628960117.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:17.962Z,1628960117.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165518.56*53

2021-08-14T16:55:18.013Z,1628960118.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.840004 m, bearing: 61.233759 deg, deltaT: 4.495655 s, approachRate: -0.573886 m/s, LOS rate: -0.849248 deg/s, posRepo size: 4
2021-08-14T16:55:18.015Z,1628960118.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.840004 m,
      bearing: 61.233759 deg,
      approachRate: -0.573886 m/s,
      LOS rate: -0.849248 deg/s,
      cmd update: -2.547744 deg/s,
      cmd heading: 68.762177 deg,
      new cmd heading: 68.136508 deg.

2021-08-14T16:55:20.376Z,1628960120.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:20.768Z,1628960120.768 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:20.769Z,1628960120.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:20.770Z,1628960120.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:20.771Z,1628960120.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:21.205Z,1628960121.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00987,184,80,80,AB,FF
2021-08-14T16:55:21.205Z,1628960121.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:21.205Z,1628960121.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:21.207Z,1628960121.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:21.625Z,1628960121.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:22.001Z,1628960122.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00958,185,80,80,B7,FF
2021-08-14T16:55:22.001Z,1628960122.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:22.437Z,1628960122.437 [Micromodem](INFO): Nmea in: $SNTTA,0.180974,,,,165523.04*41

2021-08-14T16:55:22.474Z,1628960122.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.019997 m, bearing: 61.049085 deg, deltaT: 4.403533 s, approachRate: -0.640397 m/s, LOS rate: -0.041938 deg/s, posRepo size: 4
2021-08-14T16:55:22.475Z,1628960122.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.019997 m,
      bearing: 61.049085 deg,
      approachRate: -0.640397 m/s,
      LOS rate: -0.041938 deg/s,
      cmd update: -0.125814 deg/s,
      cmd heading: 57.559261 deg,
      new cmd heading: 56.477209 deg.

2021-08-14T16:55:24.876Z,1628960124.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:25.233Z,1628960125.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:25.233Z,1628960125.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:25.233Z,1628960125.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:25.234Z,1628960125.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:25.633Z,1628960125.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00958,185,80,80,B7,FF
2021-08-14T16:55:25.633Z,1628960125.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:25.633Z,1628960125.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:25.635Z,1628960125.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:26.037Z,1628960126.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:26.449Z,1628960126.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00927,186,80,80,AB,FF
2021-08-14T16:55:26.450Z,1628960126.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:26.881Z,1628960126.881 [Micromodem](INFO): Nmea in: $SNTTA,0.079526,,,,165527.47*4E

2021-08-14T16:55:26.944Z,1628960126.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.079994 m, bearing: 61.905017 deg, deltaT: 4.407536 s, approachRate: -0.667040 m/s, LOS rate: 0.194197 deg/s, posRepo size: 4
2021-08-14T16:55:26.946Z,1628960126.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.079994 m,
      bearing: 61.905017 deg,
      approachRate: -0.667040 m/s,
      LOS rate: 0.194197 deg/s,
      cmd update: 0.582592 deg/s,
      cmd heading: 57.003442 deg,
      new cmd heading: 56.943935 deg.

2021-08-14T16:55:29.316Z,1628960129.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:29.686Z,1628960129.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:29.686Z,1628960129.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:29.687Z,1628960129.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:29.687Z,1628960129.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:30.079Z,1628960130.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00927,186,80,80,AB,FF
2021-08-14T16:55:30.079Z,1628960130.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:30.079Z,1628960130.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:30.081Z,1628960130.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:30.499Z,1628960130.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:30.885Z,1628960130.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,008F4,187,80,80,9A,FF
2021-08-14T16:55:30.885Z,1628960130.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:31.333Z,1628960131.333 [Micromodem](INFO): Nmea in: $SNTTA,0.074950,,,,165531.92*41

2021-08-14T16:55:31.391Z,1628960131.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.019997 m, bearing: 62.439615 deg, deltaT: 4.470234 s, approachRate: -0.684527 m/s, LOS rate: 0.119591 deg/s, posRepo size: 4
2021-08-14T16:55:31.398Z,1628960131.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.019997 m,
      bearing: 62.439615 deg,
      approachRate: -0.684527 m/s,
      LOS rate: 0.119591 deg/s,
      cmd update: 0.358772 deg/s,
      cmd heading: 59.607547 deg,
      new cmd heading: 59.872543 deg.

2021-08-14T16:55:32.917Z,1628960132.917 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:55:33.773Z,1628960133.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:34.114Z,1628960134.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:34.114Z,1628960134.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:34.115Z,1628960134.115 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:34.115Z,1628960134.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:34.526Z,1628960134.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,008F4,187,80,80,9A,FF
2021-08-14T16:55:34.526Z,1628960134.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:34.527Z,1628960134.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:34.529Z,1628960134.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:34.929Z,1628960134.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:35.349Z,1628960135.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,008C5,186,80,80,9A,FF
2021-08-14T16:55:35.349Z,1628960135.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:35.355Z,1628960135.355 [Micromodem](INFO): Nmea in: $SNTTA,0.247823,0.247673,,,165536.37*53

2021-08-14T16:55:35.814Z,1628960135.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.200005 m, bearing: 63.527378 deg, deltaT: 4.507252 s, approachRate: -0.625657 m/s, LOS rate: 0.241336 deg/s, posRepo size: 4
2021-08-14T16:55:35.821Z,1628960135.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.200005 m,
      bearing: 63.527378 deg,
      approachRate: -0.625657 m/s,
      LOS rate: 0.241336 deg/s,
      cmd update: 0.724008 deg/s,
      cmd heading: 61.224595 deg,
      new cmd heading: 61.355418 deg.

2021-08-14T16:55:38.186Z,1628960138.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:38.559Z,1628960138.559 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:38.559Z,1628960138.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:38.559Z,1628960138.559 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:38.561Z,1628960138.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:38.965Z,1628960138.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,008C5,186,80,80,9A,FF
2021-08-14T16:55:38.965Z,1628960138.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:38.965Z,1628960138.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:38.967Z,1628960138.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:39.399Z,1628960139.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:39.777Z,1628960139.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00894,187,80,80,B1,FF
2021-08-14T16:55:39.778Z,1628960139.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:40.218Z,1628960140.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165540.80*55

2021-08-14T16:55:40.252Z,1628960140.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.260002 m, bearing: 64.894870 deg, deltaT: 4.408037 s, approachRate: -0.666964 m/s, LOS rate: 0.310227 deg/s, posRepo size: 4
2021-08-14T16:55:40.254Z,1628960140.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.260002 m,
      bearing: 64.894870 deg,
      approachRate: -0.666964 m/s,
      LOS rate: 0.310227 deg/s,
      cmd update: 0.930681 deg/s,
      cmd heading: 64.406592 deg,
      new cmd heading: 64.705937 deg.

2021-08-14T16:55:42.678Z,1628960142.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:43.005Z,1628960143.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:43.005Z,1628960143.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:43.005Z,1628960143.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:43.006Z,1628960143.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:43.421Z,1628960143.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00894,187,80,80,B1,FF
2021-08-14T16:55:43.421Z,1628960143.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:43.421Z,1628960143.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:43.423Z,1628960143.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:43.841Z,1628960143.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:44.217Z,1628960144.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00866,186,80,80,7F,FF
2021-08-14T16:55:44.217Z,1628960144.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:44.649Z,1628960144.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165545.26*5C

2021-08-14T16:55:44.684Z,1628960144.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.500008 m, bearing: 62.688658 deg, deltaT: 4.383683 s, approachRate: -0.629606 m/s, LOS rate: -0.503278 deg/s, posRepo size: 4
2021-08-14T16:55:44.686Z,1628960144.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.500008 m,
      bearing: 62.688658 deg,
      approachRate: -0.629606 m/s,
      LOS rate: -0.503278 deg/s,
      cmd update: -1.509835 deg/s,
      cmd heading: 68.497727 deg,
      new cmd heading: 68.916139 deg.

2021-08-14T16:55:47.077Z,1628960147.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:47.457Z,1628960147.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:47.457Z,1628960147.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:47.457Z,1628960147.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:47.458Z,1628960147.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:47.857Z,1628960147.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00866,186,80,80,7F,FF
2021-08-14T16:55:47.857Z,1628960147.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:47.858Z,1628960147.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:47.859Z,1628960147.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:48.266Z,1628960148.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:48.665Z,1628960148.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00832,184,80,80,84,FF
2021-08-14T16:55:48.665Z,1628960148.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:49.122Z,1628960149.122 [Micromodem](INFO): Nmea in: $SNTTA,0.077028,,,,165549.69*4F

2021-08-14T16:55:49.211Z,1628960149.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.380005 m, bearing: 64.977830 deg, deltaT: 4.489775 s, approachRate: -0.694913 m/s, LOS rate: 0.509863 deg/s, posRepo size: 4
2021-08-14T16:55:49.213Z,1628960149.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.380005 m,
      bearing: 64.977830 deg,
      approachRate: -0.694913 m/s,
      LOS rate: 0.509863 deg/s,
      cmd update: 1.529590 deg/s,
      cmd heading: 61.733858 deg,
      new cmd heading: 60.984027 deg.

2021-08-14T16:55:51.588Z,1628960151.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:51.893Z,1628960151.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:51.893Z,1628960151.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:51.893Z,1628960151.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:51.894Z,1628960151.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:52.305Z,1628960152.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00832,184,80,80,84,FF
2021-08-14T16:55:52.305Z,1628960152.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:52.305Z,1628960152.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:52.307Z,1628960152.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:52.723Z,1628960152.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:53.109Z,1628960153.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,007FE,187,80,80,95,FF
2021-08-14T16:55:53.109Z,1628960153.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:53.553Z,1628960153.553 [Micromodem](INFO): Nmea in: $SNTTA,0.072781,,,,165554.14*48

2021-08-14T16:55:53.571Z,1628960153.571 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:55:53.587Z,1628960153.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 65.699303 deg, deltaT: 4.518695 s, approachRate: -0.690465 m/s, LOS rate: 0.159664 deg/s, posRepo size: 4
2021-08-14T16:55:53.590Z,1628960153.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.260002 m,
      bearing: 65.699303 deg,
      approachRate: -0.690465 m/s,
      LOS rate: 0.159664 deg/s,
      cmd update: 0.478992 deg/s,
      cmd heading: 68.656840 deg,
      new cmd heading: 69.185754 deg.

2021-08-14T16:55:55.962Z,1628960155.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:55:56.345Z,1628960156.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:55:56.345Z,1628960156.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:55:56.345Z,1628960156.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:55:56.346Z,1628960156.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:55:56.745Z,1628960156.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,007FE,187,80,80,95,FF
2021-08-14T16:55:56.745Z,1628960156.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:55:56.746Z,1628960156.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:55:56.747Z,1628960156.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:55:57.191Z,1628960157.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:55:57.557Z,1628960157.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,007CD,185,80,80,A1,FF
2021-08-14T16:55:57.557Z,1628960157.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:55:57.991Z,1628960157.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165558.58*59

2021-08-14T16:55:58.018Z,1628960158.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 63.445730 deg, deltaT: 4.329708 s, approachRate: -0.679030 m/s, LOS rate: -0.520491 deg/s, posRepo size: 4
2021-08-14T16:55:58.020Z,1628960158.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.320000 m,
      bearing: 63.445730 deg,
      approachRate: -0.679030 m/s,
      LOS rate: -0.520491 deg/s,
      cmd update: -1.561472 deg/s,
      cmd heading: 70.732654 deg,
      new cmd heading: 70.945120 deg.

2021-08-14T16:56:00.403Z,1628960160.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:00.801Z,1628960160.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:00.801Z,1628960160.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:00.801Z,1628960160.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:00.802Z,1628960160.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:01.221Z,1628960161.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,007CD,185,80,80,A1,FF
2021-08-14T16:56:01.221Z,1628960161.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:01.221Z,1628960161.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:01.223Z,1628960161.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:01.607Z,1628960161.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:01.993Z,1628960161.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00799,182,80,80,B6,FF
2021-08-14T16:56:01.993Z,1628960161.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:02.415Z,1628960162.415 [Micromodem](INFO): Nmea in: $SNTTA,0.060068,,,,165603.06*49

2021-08-14T16:56:02.458Z,1628960162.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.199997 m, bearing: 62.566070 deg, deltaT: 4.487627 s, approachRate: -0.695246 m/s, LOS rate: -0.196019 deg/s, posRepo size: 4
2021-08-14T16:56:02.460Z,1628960162.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.199997 m,
      bearing: 62.566070 deg,
      approachRate: -0.695246 m/s,
      LOS rate: -0.196019 deg/s,
      cmd update: -0.588057 deg/s,
      cmd heading: 63.739577 deg,
      new cmd heading: 63.106256 deg.

2021-08-14T16:56:04.877Z,1628960164.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:05.233Z,1628960165.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:05.233Z,1628960165.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:05.233Z,1628960165.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:05.234Z,1628960165.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:05.633Z,1628960165.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00799,182,80,80,B6,FF
2021-08-14T16:56:05.633Z,1628960165.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:05.633Z,1628960165.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:05.635Z,1628960165.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:06.041Z,1628960166.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:06.437Z,1628960166.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00768,187,80,80,98,FF
2021-08-14T16:56:06.437Z,1628960166.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:06.887Z,1628960166.887 [Micromodem](INFO): Nmea in: $SNTTA,0.054540,,,,165607.47*40

2021-08-14T16:56:06.913Z,1628960166.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 65.342166 deg, deltaT: 4.392607 s, approachRate: -0.669307 m/s, LOS rate: 0.631993 deg/s, posRepo size: 4
2021-08-14T16:56:06.915Z,1628960166.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 65.342166 deg,
      approachRate: -0.669307 m/s,
      LOS rate: 0.631993 deg/s,
      cmd update: 1.895979 deg/s,
      cmd heading: 61.151094 deg,
      new cmd heading: 60.881559 deg.

2021-08-14T16:56:09.313Z,1628960169.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:09.665Z,1628960169.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:09.665Z,1628960169.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:09.665Z,1628960169.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:09.666Z,1628960169.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:10.073Z,1628960170.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00768,187,80,80,98,FF
2021-08-14T16:56:10.074Z,1628960170.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:10.074Z,1628960170.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:10.075Z,1628960170.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:10.481Z,1628960170.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:10.881Z,1628960170.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,00738,187,80,80,9E,FF
2021-08-14T16:56:10.881Z,1628960170.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:11.313Z,1628960171.313 [Micromodem](INFO): Nmea in: $SNTTA,0.475915,0.475983,,,165611.91*5D

2021-08-14T16:56:11.361Z,1628960171.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.379997 m, bearing: 65.185481 deg, deltaT: 4.478970 s, approachRate: -0.643004 m/s, LOS rate: -0.034982 deg/s, posRepo size: 4
2021-08-14T16:56:11.363Z,1628960171.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.379997 m,
      bearing: 65.185481 deg,
      approachRate: -0.643004 m/s,
      LOS rate: -0.034982 deg/s,
      cmd update: -0.104947 deg/s,
      cmd heading: 69.596961 deg,
      new cmd heading: 70.452912 deg.

2021-08-14T16:56:13.727Z,1628960173.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:14.109Z,1628960174.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:14.109Z,1628960174.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:14.109Z,1628960174.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:14.110Z,1628960174.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:14.526Z,1628960174.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,00738,187,80,80,9E,FF
2021-08-14T16:56:14.526Z,1628960174.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:14.526Z,1628960174.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:14.528Z,1628960174.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:14.920Z,1628960174.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:15.321Z,1628960175.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00706,183,80,80,AD,FF
2021-08-14T16:56:15.322Z,1628960175.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:15.325Z,1628960175.325 [Micromodem](INFO): Nmea in: $SNTTA,0.049513,0.248193,,,165616.36*57

2021-08-14T16:56:15.808Z,1628960175.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.380005 m, bearing: 62.774650 deg, deltaT: 4.456211 s, approachRate: -0.673216 m/s, LOS rate: -0.541005 deg/s, posRepo size: 4
2021-08-14T16:56:15.810Z,1628960175.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.380005 m,
      bearing: 62.774650 deg,
      approachRate: -0.673216 m/s,
      LOS rate: -0.541005 deg/s,
      cmd update: -1.623014 deg/s,
      cmd heading: 69.127587 deg,
      new cmd heading: 69.083262 deg.

2021-08-14T16:56:18.193Z,1628960178.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:18.561Z,1628960178.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:18.561Z,1628960178.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:18.561Z,1628960178.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:18.562Z,1628960178.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:18.961Z,1628960178.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00706,183,80,80,AD,FF
2021-08-14T16:56:18.961Z,1628960178.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:18.961Z,1628960178.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:18.963Z,1628960178.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:19.369Z,1628960179.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:20.194Z,1628960180.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165620.80*50

2021-08-14T16:56:21.033Z,1628960181.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:22.598Z,1628960182.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,183,80,80,AD,FF
2021-08-14T16:56:22.598Z,1628960182.598 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,183,80,80,AD,FF
2021-08-14T16:56:22.598Z,1628960182.598 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:56:23.875Z,1628960183.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:24.222Z,1628960184.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:24.222Z,1628960184.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:24.222Z,1628960184.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:24.223Z,1628960184.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:24.625Z,1628960184.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,183,80,80,AD,FF
2021-08-14T16:56:24.625Z,1628960184.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:24.625Z,1628960184.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:24.627Z,1628960184.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:25.030Z,1628960185.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:25.425Z,1628960185.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00697,186,80,80,98,FF
2021-08-14T16:56:25.426Z,1628960185.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:25.429Z,1628960185.429 [Micromodem](INFO): Nmea in: $SNTTA,0.072136,0.158209,,,165626.47*5B

2021-08-14T16:56:25.895Z,1628960185.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 66.173495 deg, deltaT: 10.135344 s, approachRate: -0.657107 m/s, LOS rate: 0.335346 deg/s, posRepo size: 4
2021-08-14T16:56:25.897Z,1628960185.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.719997 m,
      bearing: 66.173495 deg,
      approachRate: -0.657107 m/s,
      LOS rate: 0.335346 deg/s,
      cmd update: 1.006038 deg/s,
      cmd heading: 52.680840 deg,
      new cmd heading: 52.063847 deg.

2021-08-14T16:56:28.287Z,1628960188.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:28.665Z,1628960188.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:28.665Z,1628960188.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:28.666Z,1628960188.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:28.667Z,1628960188.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:29.065Z,1628960189.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00697,186,80,80,98,FF
2021-08-14T16:56:29.065Z,1628960189.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:29.066Z,1628960189.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:29.067Z,1628960189.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:29.468Z,1628960189.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:29.877Z,1628960189.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00666,186,80,80,BF,FF
2021-08-14T16:56:29.877Z,1628960189.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:30.309Z,1628960190.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165630.91*51

2021-08-14T16:56:30.343Z,1628960190.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.780006 m, bearing: 68.273990 deg, deltaT: 4.424105 s, approachRate: -0.664539 m/s, LOS rate: 0.474784 deg/s, posRepo size: 4
2021-08-14T16:56:30.346Z,1628960190.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.780006 m,
      bearing: 68.273990 deg,
      approachRate: -0.664539 m/s,
      LOS rate: 0.474784 deg/s,
      cmd update: 1.424352 deg/s,
      cmd heading: 57.141121 deg,
      new cmd heading: 57.538494 deg.

2021-08-14T16:56:32.764Z,1628960192.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:33.120Z,1628960193.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:33.120Z,1628960193.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:33.121Z,1628960193.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:33.122Z,1628960193.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:33.513Z,1628960193.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00666,186,80,80,BF,FF
2021-08-14T16:56:33.514Z,1628960193.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:33.514Z,1628960193.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:33.516Z,1628960193.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:33.921Z,1628960193.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:34.325Z,1628960194.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,0063A,187,80,80,5A,FF
2021-08-14T16:56:34.326Z,1628960194.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:34.785Z,1628960194.785 [Micromodem](INFO): Nmea in: $SNTTA,0.090654,,,,165635.35*4A

2021-08-14T16:56:34.839Z,1628960194.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 68.730875 deg, deltaT: 4.393132 s, approachRate: -0.600940 m/s, LOS rate: 0.104000 deg/s, posRepo size: 4
2021-08-14T16:56:34.845Z,1628960194.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 68.730875 deg,
      approachRate: -0.600940 m/s,
      LOS rate: 0.104000 deg/s,
      cmd update: 0.312000 deg/s,
      cmd heading: 63.399241 deg,
      new cmd heading: 64.106521 deg.

2021-08-14T16:56:37.250Z,1628960197.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:37.545Z,1628960197.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:37.545Z,1628960197.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:37.545Z,1628960197.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:37.546Z,1628960197.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:37.957Z,1628960197.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,0063A,187,80,80,5A,FF
2021-08-14T16:56:37.957Z,1628960197.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:37.957Z,1628960197.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:37.959Z,1628960197.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:38.357Z,1628960198.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:38.769Z,1628960198.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,0060B,186,80,80,B7,FF
2021-08-14T16:56:38.770Z,1628960198.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:39.225Z,1628960199.225 [Micromodem](INFO): Nmea in: $SNTTA,,0.491225,,,165639.80*4F

2021-08-14T16:56:39.285Z,1628960199.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 67.408810 deg, deltaT: 4.509369 s, approachRate: -0.625364 m/s, LOS rate: -0.293182 deg/s, posRepo size: 4
2021-08-14T16:56:39.287Z,1628960199.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.320004 m,
      bearing: 67.408810 deg,
      approachRate: -0.625364 m/s,
      LOS rate: -0.293182 deg/s,
      cmd update: -0.879546 deg/s,
      cmd heading: 64.804889 deg,
      new cmd heading: 64.940011 deg.

2021-08-14T16:56:41.632Z,1628960201.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:42.002Z,1628960202.002 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:42.002Z,1628960202.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:42.002Z,1628960202.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:42.003Z,1628960202.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:42.393Z,1628960202.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,0060B,186,80,80,B7,FF
2021-08-14T16:56:42.393Z,1628960202.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:42.393Z,1628960202.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:42.395Z,1628960202.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:42.832Z,1628960202.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:43.223Z,1628960203.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,005D9,187,80,80,61,FF
2021-08-14T16:56:43.241Z,1628960203.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:43.250Z,1628960203.250 [Micromodem](INFO): Nmea in: $SNTTA,0.078501,0.314169,,,165644.23*58

2021-08-14T16:56:43.658Z,1628960203.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 66.149037 deg, deltaT: 4.475206 s, approachRate: -0.670362 m/s, LOS rate: -0.281501 deg/s, posRepo size: 4
2021-08-14T16:56:43.660Z,1628960203.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.319996 m,
      bearing: 66.149037 deg,
      approachRate: -0.670362 m/s,
      LOS rate: -0.281501 deg/s,
      cmd update: -0.844502 deg/s,
      cmd heading: 60.868704 deg,
      new cmd heading: 60.573715 deg.

2021-08-14T16:56:46.090Z,1628960206.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:46.439Z,1628960206.439 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:46.439Z,1628960206.439 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:46.439Z,1628960206.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:46.440Z,1628960206.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:46.856Z,1628960206.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,005D9,187,80,80,61,FF
2021-08-14T16:56:46.856Z,1628960206.856 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:46.856Z,1628960206.856 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:46.859Z,1628960206.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:47.241Z,1628960207.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:47.701Z,1628960207.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF1,000,005A8,186,80,80,51,FF
2021-08-14T16:56:47.701Z,1628960207.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:48.074Z,1628960208.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165648.70*51

2021-08-14T16:56:48.100Z,1628960208.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.380005 m, bearing: 69.767029 deg, deltaT: 4.420855 s, approachRate: -0.665028 m/s, LOS rate: 0.818392 deg/s, posRepo size: 4
2021-08-14T16:56:48.102Z,1628960208.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.380005 m,
      bearing: 69.767029 deg,
      approachRate: -0.665028 m/s,
      LOS rate: 0.818392 deg/s,
      cmd update: 2.455176 deg/s,
      cmd heading: 57.136340 deg,
      new cmd heading: 56.834568 deg.

2021-08-14T16:56:50.506Z,1628960210.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:50.877Z,1628960210.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:50.877Z,1628960210.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:50.877Z,1628960210.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:50.878Z,1628960210.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:51.289Z,1628960211.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF1,000,005A8,186,80,80,51,FF
2021-08-14T16:56:51.289Z,1628960211.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:51.289Z,1628960211.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:51.291Z,1628960211.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:51.716Z,1628960211.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:52.097Z,1628960212.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,00575,187,80,80,60,FF
2021-08-14T16:56:52.098Z,1628960212.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:52.538Z,1628960212.538 [Micromodem](INFO): Nmea in: $SNTTA,0.044071,,,,165653.13*46

2021-08-14T16:56:52.593Z,1628960212.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 69.553251 deg, deltaT: 4.397314 s, approachRate: -0.695881 m/s, LOS rate: -0.048616 deg/s, posRepo size: 4
2021-08-14T16:56:52.601Z,1628960212.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.320000 m,
      bearing: 69.553251 deg,
      approachRate: -0.695881 m/s,
      LOS rate: -0.048616 deg/s,
      cmd update: -0.145847 deg/s,
      cmd heading: 67.943748 deg,
      new cmd heading: 69.033755 deg.

2021-08-14T16:56:54.977Z,1628960214.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:55.329Z,1628960215.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:55.329Z,1628960215.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:55.330Z,1628960215.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:55.330Z,1628960215.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:56:55.748Z,1628960215.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,00575,187,80,80,60,FF
2021-08-14T16:56:55.748Z,1628960215.748 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:56:55.749Z,1628960215.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:56:55.750Z,1628960215.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:56:56.133Z,1628960216.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:56:56.527Z,1628960216.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F49,000,00545,186,80,80,6E,FF
2021-08-14T16:56:56.527Z,1628960216.527 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:56:56.962Z,1628960216.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165657.59*54

2021-08-14T16:56:56.987Z,1628960216.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 68.068907 deg, deltaT: 4.424981 s, approachRate: -0.650850 m/s, LOS rate: -0.335446 deg/s, posRepo size: 4
2021-08-14T16:56:56.990Z,1628960216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.439999 m,
      bearing: 68.068907 deg,
      approachRate: -0.650850 m/s,
      LOS rate: -0.335446 deg/s,
      cmd update: -1.006339 deg/s,
      cmd heading: 67.298277 deg,
      new cmd heading: 67.237357 deg.

2021-08-14T16:56:59.414Z,1628960219.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:56:59.776Z,1628960219.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:56:59.777Z,1628960219.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:56:59.777Z,1628960219.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:56:59.779Z,1628960219.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:00.169Z,1628960220.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F49,000,00545,186,80,80,6E,FF
2021-08-14T16:57:00.169Z,1628960220.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:00.169Z,1628960220.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:00.171Z,1628960220.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:00.581Z,1628960220.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:00.977Z,1628960220.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00510,186,80,80,67,FF
2021-08-14T16:57:00.978Z,1628960220.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:01.394Z,1628960221.394 [Micromodem](INFO): Nmea in: $SNTTA,0.047552,0.425488,,,165702.01*5E

2021-08-14T16:57:01.467Z,1628960221.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 68.157795 deg, deltaT: 4.469890 s, approachRate: -0.711427 m/s, LOS rate: 0.019886 deg/s, posRepo size: 4
2021-08-14T16:57:01.474Z,1628960221.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.259998 m,
      bearing: 68.157795 deg,
      approachRate: -0.711427 m/s,
      LOS rate: 0.019886 deg/s,
      cmd update: 0.059658 deg/s,
      cmd heading: 62.808861 deg,
      new cmd heading: 62.388110 deg.

2021-08-14T16:57:03.865Z,1628960223.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:04.213Z,1628960224.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:04.213Z,1628960224.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:04.213Z,1628960224.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:04.214Z,1628960224.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:04.623Z,1628960224.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00510,186,80,80,67,FF
2021-08-14T16:57:04.623Z,1628960224.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:04.623Z,1628960224.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:04.625Z,1628960224.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:05.033Z,1628960225.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:05.421Z,1628960225.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,004E4,187,80,80,9A,FF
2021-08-14T16:57:05.421Z,1628960225.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:05.877Z,1628960225.877 [Micromodem](INFO): Nmea in: $SNTTA,0.038905,,,,165706.46*46

2021-08-14T16:57:05.919Z,1628960225.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 71.342248 deg, deltaT: 4.462861 s, approachRate: -0.591548 m/s, LOS rate: 0.713545 deg/s, posRepo size: 4
2021-08-14T16:57:05.919Z,1628960225.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.62 m.
2021-08-14T16:57:05.926Z,1628960225.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.620003 m,
      bearing: 71.342248 deg,
      approachRate: -0.591548 m/s,
      LOS rate: 0.713545 deg/s,
      cmd update: 2.140635 deg/s,
      cmd heading: 63.075622 deg,
      new cmd heading: 63.100472 deg.

2021-08-14T16:57:06.271Z,1628960226.271 [PowerOnly](INFO): Powering up loadControl
2021-08-14T16:57:06.305Z,1628960226.305 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:57:06.305Z,1628960226.305 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:57:06.306Z,1628960226.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:57:06.306Z,1628960226.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:57:06.306Z,1628960226.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:57:06.306Z,1628960226.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:57:06.709Z,1628960226.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:57:06.710Z,1628960226.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:57:06.710Z,1628960226.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:57:06.710Z,1628960226.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:57:08.268Z,1628960228.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:08.669Z,1628960228.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:08.669Z,1628960228.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:08.670Z,1628960228.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:08.671Z,1628960228.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:09.065Z,1628960229.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,004E4,187,80,80,9A,FF
2021-08-14T16:57:09.065Z,1628960229.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:09.066Z,1628960229.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:09.067Z,1628960229.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:09.469Z,1628960229.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:09.874Z,1628960229.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2D,000,004B4,186,80,80,57,FF
2021-08-14T16:57:09.874Z,1628960229.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:09.905Z,1628960229.905 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:10.305Z,1628960230.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165710.90*53

2021-08-14T16:57:10.328Z,1628960230.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 71.677918 deg, deltaT: 4.399954 s, approachRate: -0.654553 m/s, LOS rate: 0.076289 deg/s, posRepo size: 4
2021-08-14T16:57:10.328Z,1628960230.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m.
2021-08-14T16:57:10.330Z,1628960230.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.740002 m,
      bearing: 71.677918 deg,
      approachRate: -0.654553 m/s,
      LOS rate: 0.076289 deg/s,
      cmd update: 0.228868 deg/s,
      cmd heading: 72.493336 deg,
      new cmd heading: 73.404425 deg.

2021-08-14T16:57:12.805Z,1628960232.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:13.099Z,1628960233.099 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:13.099Z,1628960233.099 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:13.099Z,1628960233.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:13.100Z,1628960233.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:13.513Z,1628960233.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2D,000,004B4,186,80,80,57,FF
2021-08-14T16:57:13.513Z,1628960233.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:13.513Z,1628960233.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:13.515Z,1628960233.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:13.997Z,1628960233.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:14.397Z,1628960234.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00483,186,80,80,85,FF
2021-08-14T16:57:14.397Z,1628960234.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:14.418Z,1628960234.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:14.845Z,1628960234.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165715.35*59

2021-08-14T16:57:14.875Z,1628960234.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 71.940976 deg, deltaT: 4.512939 s, approachRate: -0.651461 m/s, LOS rate: 0.058290 deg/s, posRepo size: 4
2021-08-14T16:57:14.876Z,1628960234.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.80 m.
2021-08-14T16:57:14.878Z,1628960234.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.799999 m,
      bearing: 71.940976 deg,
      approachRate: -0.651461 m/s,
      LOS rate: 0.058290 deg/s,
      cmd update: 0.174869 deg/s,
      cmd heading: 73.526229 deg,
      new cmd heading: 73.631521 deg.

2021-08-14T16:57:17.300Z,1628960237.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:17.629Z,1628960237.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:17.629Z,1628960237.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:17.629Z,1628960237.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:17.630Z,1628960237.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:18.037Z,1628960238.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00483,186,80,80,85,FF
2021-08-14T16:57:18.037Z,1628960238.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:18.038Z,1628960238.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:18.039Z,1628960238.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:18.445Z,1628960238.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:18.877Z,1628960238.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00454,185,80,80,89,FF
2021-08-14T16:57:18.877Z,1628960238.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:18.913Z,1628960238.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:19.277Z,1628960239.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165719.88*53

2021-08-14T16:57:19.330Z,1628960239.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 70.983670 deg, deltaT: 4.494865 s, approachRate: -0.627383 m/s, LOS rate: -0.212978 deg/s, posRepo size: 4
2021-08-14T16:57:19.330Z,1628960239.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.98 m.
2021-08-14T16:57:19.331Z,1628960239.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.98 m.
2021-08-14T16:57:19.331Z,1628960239.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T16:57:19.333Z,1628960239.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.979998 m,
      bearing: 70.983670 deg,
      approachRate: -0.627383 m/s,
      LOS rate: -0.212978 deg/s,
      cmd update: -0.638933 deg/s,
      cmd heading: 74.312262 deg,
      new cmd heading: 74.385675 deg.

2021-08-14T16:57:21.714Z,1628960241.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:22.077Z,1628960242.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:22.078Z,1628960242.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:22.078Z,1628960242.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:22.079Z,1628960242.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:22.473Z,1628960242.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00454,185,80,80,89,FF
2021-08-14T16:57:22.473Z,1628960242.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:22.473Z,1628960242.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:22.475Z,1628960242.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:22.886Z,1628960242.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:23.281Z,1628960243.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00423,184,80,80,83,FF
2021-08-14T16:57:23.281Z,1628960243.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:23.370Z,1628960243.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:23.746Z,1628960243.746 [Micromodem](INFO): Nmea in: $SNTTA,0.062035,,,,165724.31*43

2021-08-14T16:57:23.751Z,1628960243.751 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,1679
 expected 61
2021-08-14T16:57:23.836Z,1628960243.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 71.821522 deg, deltaT: 4.456519 s, approachRate: -0.659707 m/s, LOS rate: 0.188006 deg/s, posRepo size: 4
2021-08-14T16:57:23.838Z,1628960243.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 71.821522 deg,
      approachRate: -0.659707 m/s,
      LOS rate: 0.188006 deg/s,
      cmd update: 0.564018 deg/s,
      cmd heading: 71.467367 deg,
      new cmd heading: 71.167462 deg.

2021-08-14T16:57:26.138Z,1628960246.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:26.521Z,1628960246.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:26.521Z,1628960246.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:26.522Z,1628960246.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:26.523Z,1628960246.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:26.913Z,1628960246.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00423,184,80,80,83,FF
2021-08-14T16:57:26.913Z,1628960246.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:26.914Z,1628960246.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:26.915Z,1628960246.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:27.331Z,1628960247.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:28.158Z,1628960248.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165728.75*53

2021-08-14T16:57:28.971Z,1628960248.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:30.561Z,1628960250.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,83,FF
2021-08-14T16:57:30.562Z,1628960250.562 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,83,FF
2021-08-14T16:57:30.562Z,1628960250.562 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:57:31.837Z,1628960251.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:32.177Z,1628960252.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:32.177Z,1628960252.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:32.178Z,1628960252.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:32.179Z,1628960252.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:32.573Z,1628960252.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,83,FF
2021-08-14T16:57:32.573Z,1628960252.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:32.573Z,1628960252.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:32.575Z,1628960252.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:32.984Z,1628960252.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:33.381Z,1628960253.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,003C2,183,80,80,7E,FF
2021-08-14T16:57:33.382Z,1628960253.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:33.454Z,1628960253.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:33.850Z,1628960253.850 [Micromodem](INFO): Nmea in: $SNTTA,0.032118,,,,165734.42*4D

2021-08-14T16:57:33.877Z,1628960253.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 70.039348 deg, deltaT: 10.084554 s, approachRate: -0.577120 m/s, LOS rate: -0.176723 deg/s, posRepo size: 4
2021-08-14T16:57:33.879Z,1628960253.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.219997 m,
      bearing: 70.039348 deg,
      approachRate: -0.577120 m/s,
      LOS rate: -0.176723 deg/s,
      cmd update: -0.530169 deg/s,
      cmd heading: 77.155192 deg,
      new cmd heading: 77.397308 deg.

2021-08-14T16:57:36.235Z,1628960256.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:36.623Z,1628960256.623 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:36.623Z,1628960256.623 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:36.624Z,1628960256.624 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:36.625Z,1628960256.625 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:37.033Z,1628960257.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,003C2,183,80,80,7E,FF
2021-08-14T16:57:37.034Z,1628960257.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:37.034Z,1628960257.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:37.035Z,1628960257.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:37.437Z,1628960257.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:37.853Z,1628960257.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00386,184,80,80,8D,FF
2021-08-14T16:57:37.853Z,1628960257.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:37.886Z,1628960257.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:38.266Z,1628960258.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165738.87*5F

2021-08-14T16:57:38.286Z,1628960258.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 70.040694 deg, deltaT: 4.432254 s, approachRate: -0.812227 m/s, LOS rate: 0.000304 deg/s, posRepo size: 4
2021-08-14T16:57:38.288Z,1628960258.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 70.040694 deg,
      approachRate: -0.812227 m/s,
      LOS rate: 0.000304 deg/s,
      cmd update: 0.000911 deg/s,
      cmd heading: 74.803227 deg,
      new cmd heading: 74.589779 deg.

2021-08-14T16:57:40.712Z,1628960260.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:41.057Z,1628960261.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:41.057Z,1628960261.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:41.057Z,1628960261.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:41.058Z,1628960261.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:41.457Z,1628960261.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00386,184,80,80,8D,FF
2021-08-14T16:57:41.457Z,1628960261.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:41.458Z,1628960261.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:41.459Z,1628960261.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:41.889Z,1628960261.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:42.269Z,1628960262.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,0035B,185,80,80,8D,FF
2021-08-14T16:57:42.269Z,1628960262.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:42.324Z,1628960262.324 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:42.728Z,1628960262.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165743.30*5F

2021-08-14T16:57:42.801Z,1628960262.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 69.751797 deg, deltaT: 4.437543 s, approachRate: -0.581403 m/s, LOS rate: -0.065103 deg/s, posRepo size: 4
2021-08-14T16:57:42.803Z,1628960262.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.039998 m,
      bearing: 69.751797 deg,
      approachRate: -0.581403 m/s,
      LOS rate: -0.065103 deg/s,
      cmd update: -0.195308 deg/s,
      cmd heading: 74.807259 deg,
      new cmd heading: 74.807701 deg.

2021-08-14T16:57:45.200Z,1628960265.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:45.501Z,1628960265.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:45.501Z,1628960265.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:45.501Z,1628960265.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:45.502Z,1628960265.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:45.915Z,1628960265.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,0035B,185,80,80,8D,FF
2021-08-14T16:57:45.915Z,1628960265.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:45.915Z,1628960265.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:45.917Z,1628960265.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:46.309Z,1628960266.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:46.713Z,1628960266.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,0032D,184,80,80,8A,FF
2021-08-14T16:57:46.713Z,1628960266.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:46.733Z,1628960266.733 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:47.161Z,1628960267.161 [Micromodem](INFO): Nmea in: $SNTTA,0.057334,,,,165747.75*42

2021-08-14T16:57:47.256Z,1628960267.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 68.137229 deg, deltaT: 4.409402 s, approachRate: -0.625935 m/s, LOS rate: -0.366165 deg/s, posRepo size: 4
2021-08-14T16:57:47.258Z,1628960267.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 68.137229 deg,
      approachRate: -0.625935 m/s,
      LOS rate: -0.366165 deg/s,
      cmd update: -1.098495 deg/s,
      cmd heading: 73.944117 deg,
      new cmd heading: 73.842185 deg.

2021-08-14T16:57:49.563Z,1628960269.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:49.954Z,1628960269.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:49.954Z,1628960269.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:49.954Z,1628960269.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:49.955Z,1628960269.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:50.355Z,1628960270.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,0032D,184,80,80,8A,FF
2021-08-14T16:57:50.355Z,1628960270.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:50.375Z,1628960270.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:50.377Z,1628960270.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:50.754Z,1628960270.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:51.201Z,1628960271.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00310,185,80,80,46,FF
2021-08-14T16:57:51.202Z,1628960271.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:51.267Z,1628960271.267 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:51.590Z,1628960271.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165752.21*5F

2021-08-14T16:57:51.633Z,1628960271.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 66.758993 deg, deltaT: 4.533755 s, approachRate: -0.383788 m/s, LOS rate: -0.303994 deg/s, posRepo size: 4
2021-08-14T16:57:51.635Z,1628960271.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 66.758993 deg,
      approachRate: -0.383788 m/s,
      LOS rate: -0.303994 deg/s,
      cmd update: -0.911984 deg/s,
      cmd heading: 68.990226 deg,
      new cmd heading: 68.558532 deg.

2021-08-14T16:57:54.046Z,1628960274.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:54.401Z,1628960274.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:54.401Z,1628960274.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:54.401Z,1628960274.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:54.402Z,1628960274.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:54.809Z,1628960274.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00310,185,80,80,46,FF
2021-08-14T16:57:54.809Z,1628960274.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:54.809Z,1628960274.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:54.811Z,1628960274.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:55.236Z,1628960275.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:57:55.610Z,1628960275.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,002CF,183,80,80,AC,FF
2021-08-14T16:57:55.610Z,1628960275.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:57:55.634Z,1628960275.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:57:56.049Z,1628960276.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165756.65*5B

2021-08-14T16:57:56.089Z,1628960276.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 65.141420 deg, deltaT: 4.367365 s, approachRate: -0.892987 m/s, LOS rate: -0.370377 deg/s, posRepo size: 4
2021-08-14T16:57:56.091Z,1628960276.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 65.141420 deg,
      approachRate: -0.892987 m/s,
      LOS rate: -0.370377 deg/s,
      cmd update: -1.111132 deg/s,
      cmd heading: 64.985373 deg,
      new cmd heading: 64.568177 deg.

2021-08-14T16:57:58.470Z,1628960278.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:57:58.841Z,1628960278.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:57:58.841Z,1628960278.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:57:58.841Z,1628960278.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:57:58.842Z,1628960278.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:57:59.246Z,1628960279.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,002CF,183,80,80,AC,FF
2021-08-14T16:57:59.246Z,1628960279.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:57:59.246Z,1628960279.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:57:59.250Z,1628960279.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:57:59.653Z,1628960279.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:00.065Z,1628960280.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,002B0,185,80,80,86,FF
2021-08-14T16:58:00.065Z,1628960280.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:00.124Z,1628960280.124 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:00.485Z,1628960280.485 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T16:58:00.485Z,1628960280.485 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:58:00.486Z,1628960280.486 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T16:58:00.486Z,1628960280.486 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:58:00.486Z,1628960280.486 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T16:58:00.486Z,1628960280.486 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.779998 m 
2021-08-14T16:58:00.487Z,1628960280.487 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T16:58:00.487Z,1628960280.487 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T16:58:00.487Z,1628960280.487 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T16:58:00.490Z,1628960280.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.779998 m, bearing: 63.410513 deg, deltaT: 4.489655 s, approachRate: -0.414286 m/s, LOS rate: -0.385532 deg/s, posRepo size: 4
2021-08-14T16:58:00.491Z,1628960280.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 63.410513 deg,
      approachRate: -0.414286 m/s,
      LOS rate: -0.385532 deg/s,
      cmd update: -1.156597 deg/s,
      cmd heading: 60.028096 deg,
      new cmd heading: 59.587318 deg.

2021-08-14T16:58:00.908Z,1628960280.908 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T165800: (41.552319, -70.708603)
2021-08-14T16:58:00.908Z,1628960280.908 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T16:58:00.908Z,1628960280.908 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T16:58:00.908Z,1628960280.908 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:58:00.908Z,1628960280.908 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T16:58:00.908Z,1628960280.908 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T16:58:00.909Z,1628960280.909 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T16:58:00.909Z,1628960280.909 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T16:58:00.909Z,1628960280.909 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T16:58:02.900Z,1628960282.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:03.278Z,1628960283.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:03.278Z,1628960283.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:03.278Z,1628960283.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:03.279Z,1628960283.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:03.681Z,1628960283.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,002B0,185,80,80,86,FF
2021-08-14T16:58:03.681Z,1628960283.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:03.681Z,1628960283.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:03.683Z,1628960283.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:04.109Z,1628960284.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:04.493Z,1628960284.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,002AD,183,80,80,C7,FF
2021-08-14T16:58:04.493Z,1628960284.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:04.513Z,1628960284.513 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:04.929Z,1628960284.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165805.52*56

2021-08-14T16:58:04.986Z,1628960284.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.599999 m, bearing: 57.233283 deg, deltaT: 4.389253 s, approachRate: -0.041009 m/s, LOS rate: -1.407353 deg/s, posRepo size: 4
2021-08-14T16:58:04.000Z,1628960285.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.599999 m,
      bearing: 57.233283 deg,
      approachRate: -0.041009 m/s,
      LOS rate: -1.407353 deg/s,
      cmd update: -4.222060 deg/s,
      cmd heading: 54.918826 deg,
      new cmd heading: 54.368969 deg.

2021-08-14T16:58:07.387Z,1628960287.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:07.721Z,1628960287.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:07.721Z,1628960287.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:07.721Z,1628960287.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:07.722Z,1628960287.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:08.137Z,1628960288.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,002AD,183,80,80,C7,FF
2021-08-14T16:58:08.137Z,1628960288.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:08.138Z,1628960288.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:08.141Z,1628960288.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:08.533Z,1628960288.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:08.937Z,1628960288.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,002D0,186,80,80,75,FF
2021-08-14T16:58:08.938Z,1628960288.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:09.026Z,1628960289.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:09.373Z,1628960289.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165809.98*5C

2021-08-14T16:58:09.421Z,1628960289.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 61.656364 deg, deltaT: 4.513048 s, approachRate: 0.465317 m/s, LOS rate: 0.980065 deg/s, posRepo size: 4
2021-08-14T16:58:09.423Z,1628960289.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 61.656364 deg,
      approachRate: 0.465317 m/s,
      LOS rate: 0.980065 deg/s,
      cmd update: 2.940195 deg/s,
      cmd heading: 35.881713 deg,
      new cmd heading: 34.186695 deg.

2021-08-14T16:58:11.827Z,1628960291.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:12.165Z,1628960292.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:12.165Z,1628960292.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:12.165Z,1628960292.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:12.166Z,1628960292.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:12.577Z,1628960292.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,002D0,186,80,80,75,FF
2021-08-14T16:58:12.577Z,1628960292.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:12.577Z,1628960292.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:12.579Z,1628960292.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:12.977Z,1628960292.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:13.377Z,1628960293.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,244,000,002FD,18A,80,80,94,FF
2021-08-14T16:58:13.377Z,1628960293.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:13.450Z,1628960293.450 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:13.850Z,1628960293.850 [Micromodem](INFO): Nmea in: $SNTTA,0.034552,,,,165814.42*4C

2021-08-14T16:58:13.909Z,1628960293.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 5.406936 deg, deltaT: 4.423800 s, approachRate: 0.610335 m/s, LOS rate: -12.715183 deg/s, posRepo size: 4
2021-08-14T16:58:13.910Z,1628960293.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.715183 deg/s. Setting heading cmd to target bearing of 5.406936deg and heading rate command to 0 deg/s.
2021-08-14T16:58:16.227Z,1628960296.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:16.614Z,1628960296.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:16.615Z,1628960296.615 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:16.615Z,1628960296.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:16.616Z,1628960296.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:17.025Z,1628960297.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
244,000,002FD,18A,80,80,94,FF
2021-08-14T16:58:17.025Z,1628960297.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:17.025Z,1628960297.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:17.027Z,1628960297.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:17.434Z,1628960297.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:17.845Z,1628960297.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,00327,185,80,80,64,FF
2021-08-14T16:58:17.845Z,1628960297.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:17.879Z,1628960297.879 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:58:17.926Z,1628960297.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:18.261Z,1628960298.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165818.86*53

2021-08-14T16:58:18.293Z,1628960298.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 49.228425 deg, deltaT: 4.475560 s, approachRate: 0.563059 m/s, LOS rate: 9.791286 deg/s, posRepo size: 4
2021-08-14T16:58:18.295Z,1628960298.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 49.228425 deg,
      approachRate: 0.563059 m/s,
      LOS rate: 9.791286 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 5.406936 deg,
      new cmd heading: 5.406936 deg.

2021-08-14T16:58:20.691Z,1628960300.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:21.058Z,1628960301.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:21.058Z,1628960301.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:21.059Z,1628960301.059 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:21.060Z,1628960301.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:21.466Z,1628960301.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,00327,185,80,80,64,FF
2021-08-14T16:58:21.466Z,1628960301.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:21.466Z,1628960301.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:21.468Z,1628960301.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:21.877Z,1628960301.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:22.265Z,1628960302.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00352,18A,80,80,91,FF
2021-08-14T16:58:22.265Z,1628960302.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:22.310Z,1628960302.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:22.710Z,1628960302.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165823.30*56

2021-08-14T16:58:22.726Z,1628960302.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 12.432782 deg, deltaT: 4.384159 s, approachRate: 0.588482 m/s, LOS rate: -8.392862 deg/s, posRepo size: 4
2021-08-14T16:58:22.726Z,1628960302.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.50 m. Rolling out.
2021-08-14T16:58:22.727Z,1628960302.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T16:58:25.222Z,1628960305.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:25.501Z,1628960305.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:25.501Z,1628960305.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:25.501Z,1628960305.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:25.502Z,1628960305.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:25.905Z,1628960305.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00352,18A,80,80,91,FF
2021-08-14T16:58:25.905Z,1628960305.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:25.905Z,1628960305.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:25.907Z,1628960305.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:26.316Z,1628960306.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:26.717Z,1628960306.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00380,186,80,80,4E,FF
2021-08-14T16:58:26.717Z,1628960306.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:26.767Z,1628960306.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:27.177Z,1628960307.177 [Micromodem](INFO): Nmea in: $SNTTA,0.013130,,,,165827.74*4C

2021-08-14T16:58:27.245Z,1628960307.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 38.656077 deg, deltaT: 4.462187 s, approachRate: 0.618530 m/s, LOS rate: 5.876781 deg/s, posRepo size: 4
2021-08-14T16:58:27.949Z,1628960307.949 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:58:29.575Z,1628960309.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:29.949Z,1628960309.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:29.949Z,1628960309.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:29.949Z,1628960309.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:29.950Z,1628960309.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:30.349Z,1628960310.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00380,186,80,80,4E,FF
2021-08-14T16:58:30.349Z,1628960310.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:30.349Z,1628960310.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:30.351Z,1628960310.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:30.753Z,1628960310.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:31.185Z,1628960311.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30E,000,003C2,189,80,80,3F,FF
2021-08-14T16:58:31.185Z,1628960311.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:31.273Z,1628960311.273 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:31.590Z,1628960311.590 [Micromodem](INFO): Nmea in: $SNTTA,,0.018487,,,165832.19*41

2021-08-14T16:58:31.640Z,1628960311.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 356.370120 deg, deltaT: 4.501136 s, approachRate: 0.879777 m/s, LOS rate: -9.394509 deg/s, posRepo size: 4
2021-08-14T16:58:32.828Z,1628960312.828 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:58:34.034Z,1628960314.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:34.389Z,1628960314.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:34.389Z,1628960314.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:34.389Z,1628960314.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:34.390Z,1628960314.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:34.809Z,1628960314.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30E,000,003C2,189,80,80,3F,FF
2021-08-14T16:58:34.809Z,1628960314.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:34.809Z,1628960314.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:34.811Z,1628960314.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:35.247Z,1628960315.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:35.657Z,1628960315.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00D43,186,80,80,47,FF
2021-08-14T16:58:35.657Z,1628960315.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:35.678Z,1628960315.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:36.070Z,1628960316.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165836.65*52

2021-08-14T16:58:36.099Z,1628960316.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.200012 m, bearing: 54.141352 deg, deltaT: 4.404627 s, approachRate: 33.142422 m/s, LOS rate: 13.116033 deg/s, posRepo size: 4
2021-08-14T16:58:36.491Z,1628960316.491 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:58:36.492Z,1628960316.492 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:58:36.492Z,1628960316.492 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:58:36.493Z,1628960316.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:58:36.493Z,1628960316.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:58:36.493Z,1628960316.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:58:36.891Z,1628960316.891 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:58:36.891Z,1628960316.891 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:58:36.891Z,1628960316.891 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:58:36.892Z,1628960316.892 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:58:38.080Z,1628960318.080 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:58:38.483Z,1628960318.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:38.877Z,1628960318.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:38.877Z,1628960318.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:38.877Z,1628960318.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:38.878Z,1628960318.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:39.275Z,1628960319.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00D43,186,80,80,47,FF
2021-08-14T16:58:39.275Z,1628960319.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:39.275Z,1628960319.275 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:39.277Z,1628960319.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:39.676Z,1628960319.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:40.141Z,1628960320.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00408,186,80,80,89,FF
2021-08-14T16:58:40.141Z,1628960320.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:40.518Z,1628960320.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165841.12*52

2021-08-14T16:58:40.551Z,1628960320.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 77.728338 deg, deltaT: 4.536717 s, approachRate: -31.251677 m/s, LOS rate: 5.199131 deg/s, posRepo size: 4
2021-08-14T16:58:40.906Z,1628960320.906 [PowerOnly](INFO): Powering down loadControl
2021-08-14T16:58:40.933Z,1628960320.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:58:40.934Z,1628960320.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:58:40.934Z,1628960320.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:58:40.934Z,1628960320.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:58:40.934Z,1628960320.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:58:40.934Z,1628960320.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:58:41.341Z,1628960321.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:58:41.341Z,1628960321.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:58:41.341Z,1628960321.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:58:41.342Z,1628960321.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:58:42.916Z,1628960322.916 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T16:58:42.966Z,1628960322.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:43.321Z,1628960323.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:43.321Z,1628960323.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:43.321Z,1628960323.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:43.322Z,1628960323.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:43.714Z,1628960323.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00408,186,80,80,89,FF
2021-08-14T16:58:43.714Z,1628960323.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:43.714Z,1628960323.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:43.716Z,1628960323.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:44.124Z,1628960324.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:44.521Z,1628960324.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,00438,186,80,80,60,FF
2021-08-14T16:58:44.522Z,1628960324.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:44.546Z,1628960324.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:44.971Z,1628960324.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165845.55*55

2021-08-14T16:58:44.997Z,1628960324.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 67.568548 deg, deltaT: 4.331888 s, approachRate: 0.664837 m/s, LOS rate: -2.345349 deg/s, posRepo size: 4
2021-08-14T16:58:47.402Z,1628960327.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:47.812Z,1628960327.812 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:47.812Z,1628960327.812 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:47.812Z,1628960327.812 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:47.813Z,1628960327.813 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:48.173Z,1628960328.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,00438,186,80,80,60,FF
2021-08-14T16:58:48.173Z,1628960328.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:48.174Z,1628960328.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:48.175Z,1628960328.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:48.565Z,1628960328.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:49.380Z,1628960329.380 [Micromodem](INFO): Nmea in: $SNTTA,0.037225,0.382898,,,165850.01*51

2021-08-14T16:58:50.225Z,1628960330.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:51.821Z,1628960331.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,60,FF
2021-08-14T16:58:51.821Z,1628960331.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,60,FF
2021-08-14T16:58:51.821Z,1628960331.821 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:58:53.012Z,1628960333.012 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T16:58:53.051Z,1628960333.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:53.413Z,1628960333.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:53.413Z,1628960333.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:53.413Z,1628960333.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:53.414Z,1628960333.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:53.845Z,1628960333.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,60,FF
2021-08-14T16:58:53.845Z,1628960333.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:53.845Z,1628960333.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:53.847Z,1628960333.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:54.224Z,1628960334.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:54.633Z,1628960334.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,00499,186,80,80,5C,FF
2021-08-14T16:58:54.634Z,1628960334.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:54.653Z,1628960334.653 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:55.053Z,1628960335.053 [Micromodem](INFO): Nmea in: $SNTTA,0.058933,,,,165855.68*40

2021-08-14T16:58:55.104Z,1628960335.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 71.885098 deg, deltaT: 10.106989 s, approachRate: 0.575839 m/s, LOS rate: 0.427086 deg/s, posRepo size: 4
2021-08-14T16:58:57.505Z,1628960337.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:58:57.873Z,1628960337.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:58:57.873Z,1628960337.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:58:57.873Z,1628960337.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:58:57.874Z,1628960337.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:58:58.269Z,1628960338.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,00499,186,80,80,5C,FF
2021-08-14T16:58:58.269Z,1628960338.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:58:58.269Z,1628960338.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:58:58.271Z,1628960338.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:58:58.680Z,1628960338.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:58:59.077Z,1628960339.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00D43,186,80,80,5C,FF
2021-08-14T16:58:59.077Z,1628960339.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:58:59.185Z,1628960339.185 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:58:59.489Z,1628960339.489 [Micromodem](INFO): Nmea in: $SNTTA,0.140376,0.336362,,,165900.11*53

2021-08-14T16:58:59.535Z,1628960339.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.200012 m, bearing: 69.765137 deg, deltaT: 4.531957 s, approachRate: 29.364801 m/s, LOS rate: -0.467780 deg/s, posRepo size: 4
2021-08-14T16:58:59.932Z,1628960339.932 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:58:59.932Z,1628960339.932 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:58:59.933Z,1628960339.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:58:59.933Z,1628960339.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:58:59.933Z,1628960339.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:58:59.933Z,1628960339.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:59:00.317Z,1628960340.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:59:00.317Z,1628960340.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:59:00.317Z,1628960340.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:59:00.317Z,1628960340.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:59:01.929Z,1628960341.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:02.297Z,1628960342.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:02.297Z,1628960342.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:02.297Z,1628960342.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:02.298Z,1628960342.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:02.705Z,1628960342.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00D43,186,80,80,5C,FF
2021-08-14T16:59:02.705Z,1628960342.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:02.705Z,1628960342.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:02.707Z,1628960342.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:03.129Z,1628960343.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:03.514Z,1628960343.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00501,187,80,80,61,FF
2021-08-14T16:59:03.514Z,1628960343.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:03.949Z,1628960343.949 [Micromodem](INFO): Nmea in: $SNTTA,0.025604,,,,165904.55*4A

2021-08-14T16:59:04.017Z,1628960344.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.360001 m, bearing: 61.772757 deg, deltaT: 4.367839 s, approachRate: -29.039534 m/s, LOS rate: -1.829825 deg/s, posRepo size: 4
2021-08-14T16:59:04.357Z,1628960344.357 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T16:59:04.357Z,1628960344.357 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:59:04.358Z,1628960344.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T16:59:04.358Z,1628960344.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T16:59:04.358Z,1628960344.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T16:59:04.358Z,1628960344.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T16:59:04.753Z,1628960344.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T16:59:04.753Z,1628960344.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:59:04.753Z,1628960344.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T16:59:04.753Z,1628960344.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T16:59:06.356Z,1628960346.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:06.753Z,1628960346.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:06.753Z,1628960346.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:06.753Z,1628960346.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:06.754Z,1628960346.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:07.184Z,1628960347.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00501,187,80,80,61,FF
2021-08-14T16:59:07.184Z,1628960347.184 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:07.184Z,1628960347.184 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:07.186Z,1628960347.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:07.565Z,1628960347.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:07.978Z,1628960347.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00528,185,80,80,75,FF
2021-08-14T16:59:07.978Z,1628960347.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:08.004Z,1628960348.004 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T16:59:08.004Z,1628960348.004 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T16:59:08.004Z,1628960348.004 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T16:59:08.050Z,1628960348.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T16:59:08.168Z,1628960348.168 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T16:59:08.397Z,1628960348.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165909.02*5E

2021-08-14T16:59:08.472Z,1628960348.472 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T16:59:08.514Z,1628960348.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 74.444028 deg, deltaT: 4.497227 s, approachRate: 0.520321 m/s, LOS rate: 2.817574 deg/s, posRepo size: 4
2021-08-14T16:59:08.816Z,1628960348.816 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T16:59:08.816Z,1628960348.816 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:59:08.816Z,1628960348.816 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T16:59:08.817Z,1628960348.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T16:59:08.817Z,1628960348.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T16:59:08.817Z,1628960348.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T16:59:09.287Z,1628960349.287 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T16:59:09.287Z,1628960349.287 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:59:09.287Z,1628960349.287 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T16:59:09.287Z,1628960349.287 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T16:59:09.412Z,1628960349.412 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T16:59:09.412Z,1628960349.412 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T16:59:10.822Z,1628960350.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:11.217Z,1628960351.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:11.217Z,1628960351.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:11.217Z,1628960351.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:11.218Z,1628960351.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:11.606Z,1628960351.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00528,185,80,80,75,FF
2021-08-14T16:59:11.606Z,1628960351.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:11.606Z,1628960351.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:11.609Z,1628960351.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:12.012Z,1628960352.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:12.429Z,1628960352.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,0055E,186,80,80,5F,FF
2021-08-14T16:59:12.429Z,1628960352.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:12.884Z,1628960352.884 [Micromodem](INFO): Nmea in: $SNTTA,,0.029152,,,165913.45*45

2021-08-14T16:59:12.903Z,1628960352.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 67.723334 deg, deltaT: 4.426909 s, approachRate: 0.731888 m/s, LOS rate: -1.518146 deg/s, posRepo size: 4
2021-08-14T16:59:15.296Z,1628960355.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:15.657Z,1628960355.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:15.657Z,1628960355.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:15.657Z,1628960355.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:15.658Z,1628960355.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:16.058Z,1628960356.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,0055E,186,80,80,5F,FF
2021-08-14T16:59:16.058Z,1628960356.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:16.058Z,1628960356.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:16.060Z,1628960356.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:16.461Z,1628960356.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:16.861Z,1628960356.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00592,187,80,80,A0,FF
2021-08-14T16:59:16.862Z,1628960356.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:17.285Z,1628960357.285 [Micromodem](INFO): Nmea in: $SNTTA,0.440115,0.438846,,,165917.90*5A

2021-08-14T16:59:17.340Z,1628960357.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.060001 m, bearing: 57.516866 deg, deltaT: 4.448632 s, approachRate: 0.701339 m/s, LOS rate: -2.294294 deg/s, posRepo size: 4
2021-08-14T16:59:19.720Z,1628960359.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:20.093Z,1628960360.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:20.093Z,1628960360.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:20.093Z,1628960360.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:20.094Z,1628960360.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:20.505Z,1628960360.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00592,187,80,80,A0,FF
2021-08-14T16:59:20.505Z,1628960360.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:20.505Z,1628960360.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:20.507Z,1628960360.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:20.909Z,1628960360.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:21.730Z,1628960361.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165922.34*52

2021-08-14T16:59:22.550Z,1628960362.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:24.125Z,1628960364.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,187,80,80,A0,FF
2021-08-14T16:59:24.125Z,1628960364.125 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,187,80,80,A0,FF
2021-08-14T16:59:24.126Z,1628960364.126 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:59:25.395Z,1628960365.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:25.765Z,1628960365.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:25.765Z,1628960365.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:25.766Z,1628960365.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:25.767Z,1628960365.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:26.157Z,1628960366.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,187,80,80,A0,FF
2021-08-14T16:59:26.157Z,1628960366.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:26.158Z,1628960366.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:26.159Z,1628960366.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:26.556Z,1628960366.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:27.394Z,1628960367.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165928.00*5F

2021-08-14T16:59:28.186Z,1628960368.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:29.409Z,1628960369.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,07DA0,186,80,80,5E,FF
2021-08-14T16:59:29.410Z,1628960369.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:29.825Z,1628960369.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1892.099976 m, bearing: 59.244747 deg, deltaT: 12.553498 s, approachRate: 146.894516 m/s, LOS rate: 0.137641 deg/s, posRepo size: 4
2021-08-14T16:59:29.826Z,1628960369.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1892.10 m. Resuming terminal guidance.
2021-08-14T16:59:29.826Z,1628960369.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T16:59:32.238Z,1628960372.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:32.613Z,1628960372.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:32.614Z,1628960372.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:32.614Z,1628960372.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:32.615Z,1628960372.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:33.017Z,1628960373.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,07DA0,186,80,80,5E,FF
2021-08-14T16:59:33.017Z,1628960373.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:33.018Z,1628960373.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:33.019Z,1628960373.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:33.427Z,1628960373.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:34.256Z,1628960374.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165934.86*5C

2021-08-14T16:59:35.112Z,1628960375.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:36.673Z,1628960376.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-14T16:59:36.674Z,1628960376.674 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,5E,FF
2021-08-14T16:59:36.674Z,1628960376.674 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:59:37.936Z,1628960377.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:38.271Z,1628960378.271 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:38.271Z,1628960378.271 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:38.271Z,1628960378.271 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:38.273Z,1628960378.273 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:38.681Z,1628960378.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,5E,FF
2021-08-14T16:59:38.681Z,1628960378.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:38.682Z,1628960378.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:38.683Z,1628960378.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:39.084Z,1628960379.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:39.481Z,1628960379.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00682,186,80,80,72,FF
2021-08-14T16:59:39.481Z,1628960379.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:39.934Z,1628960379.934 [Micromodem](INFO): Nmea in: $SNTTA,,0.169219,,,165940.52*4C

2021-08-14T16:59:39.990Z,1628960379.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 64.343305 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T16:59:39.991Z,1628960379.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 64.343305deg and heading rate command to 0 deg/s.
2021-08-14T16:59:42.342Z,1628960382.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:42.720Z,1628960382.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:42.721Z,1628960382.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:42.722Z,1628960382.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:42.723Z,1628960382.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:43.132Z,1628960383.132 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00682,186,80,80,72,FF
2021-08-14T16:59:43.133Z,1628960383.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:43.133Z,1628960383.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:43.148Z,1628960383.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:43.521Z,1628960383.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:44.342Z,1628960384.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165944.99*55

2021-08-14T16:59:45.200Z,1628960385.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:46.769Z,1628960386.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,72,FF
2021-08-14T16:59:46.769Z,1628960386.769 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,72,FF
2021-08-14T16:59:46.769Z,1628960386.769 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T16:59:48.005Z,1628960388.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:48.369Z,1628960388.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:48.369Z,1628960388.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:48.369Z,1628960388.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:48.370Z,1628960388.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:48.785Z,1628960388.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,72,FF
2021-08-14T16:59:48.785Z,1628960388.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:48.785Z,1628960388.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:48.787Z,1628960388.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:49.229Z,1628960389.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:49.245Z,1628960389.245 [Micromodem](INFO): Nmea in: 950,COPROC,0.20.0.39330*75

2021-08-14T16:59:49.246Z,1628960389.246 [Micromodem](ERROR): Response from modem failed NMEA checksum: 950,COPROC,0.20.0.39330*75
 expected 0
2021-08-14T16:59:49.586Z,1628960389.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,006F0,186,80,80,8F,FF
2021-08-14T16:59:49.586Z,1628960389.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:50.038Z,1628960390.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 79.427136 deg, deltaT: 10.093317 s, approachRate: 0.653898 m/s, LOS rate: 1.494437 deg/s, posRepo size: 2
2021-08-14T16:59:50.040Z,1628960390.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 79.427136 deg,
      approachRate: 0.653898 m/s,
      LOS rate: 1.494437 deg/s,
      cmd update: 4.483312 deg/s,
      cmd heading: 64.343305 deg,
      new cmd heading: 64.343305 deg.

2021-08-14T16:59:52.461Z,1628960392.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:52.842Z,1628960392.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:52.842Z,1628960392.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:52.845Z,1628960392.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:52.858Z,1628960392.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:53.237Z,1628960393.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,006F0,186,80,80,8F,FF
2021-08-14T16:59:53.237Z,1628960393.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:53.237Z,1628960393.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:53.239Z,1628960393.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:53.642Z,1628960393.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:54.021Z,1628960394.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,00723,189,80,80,42,FF
2021-08-14T16:59:54.022Z,1628960394.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:54.457Z,1628960394.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165955.08*5D

2021-08-14T16:59:54.485Z,1628960394.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 95.237105 deg, deltaT: 4.441670 s, approachRate: 0.688933 m/s, LOS rate: 3.559465 deg/s, posRepo size: 3
2021-08-14T16:59:54.486Z,1628960394.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.120010 m,
      bearing: 95.237105 deg,
      approachRate: 0.688933 m/s,
      LOS rate: 3.559465 deg/s,
      cmd update: 10.678395 deg/s,
      cmd heading: 84.364249 deg,
      new cmd heading: 86.190136 deg.

2021-08-14T16:59:56.890Z,1628960396.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T16:59:57.272Z,1628960397.272 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T16:59:57.272Z,1628960397.272 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T16:59:57.273Z,1628960397.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T16:59:57.274Z,1628960397.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T16:59:57.672Z,1628960397.672 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,00723,189,80,80,42,FF
2021-08-14T16:59:57.673Z,1628960397.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T16:59:57.673Z,1628960397.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T16:59:57.675Z,1628960397.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T16:59:58.076Z,1628960398.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T16:59:58.477Z,1628960398.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,0074E,187,80,80,7A,FF
2021-08-14T16:59:58.477Z,1628960398.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T16:59:58.921Z,1628960398.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165959.51*5D

2021-08-14T16:59:58.947Z,1628960398.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.700005 m, bearing: 91.510635 deg, deltaT: 4.428996 s, approachRate: 0.582523 m/s, LOS rate: -0.841380 deg/s, posRepo size: 4
2021-08-14T16:59:58.949Z,1628960398.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.700005 m,
      bearing: 91.510635 deg,
      approachRate: 0.582523 m/s,
      LOS rate: -0.841380 deg/s,
      cmd update: -2.524140 deg/s,
      cmd heading: 131.532875 deg,
      new cmd heading: 136.365233 deg.

2021-08-14T17:00:01.348Z,1628960401.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:01.712Z,1628960401.712 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:01.712Z,1628960401.712 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:01.713Z,1628960401.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:01.714Z,1628960401.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:02.109Z,1628960402.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,0074E,187,80,80,7A,FF
2021-08-14T17:00:02.109Z,1628960402.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:02.109Z,1628960402.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:02.111Z,1628960402.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:02.529Z,1628960402.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:02.925Z,1628960402.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00777,186,80,80,75,FF
2021-08-14T17:00:02.926Z,1628960402.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:03.354Z,1628960403.354 [Micromodem](INFO): Nmea in: $SNTTA,,0.412602,,,170003.95*4A

2021-08-14T17:00:03.413Z,1628960403.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 111.291580 deg, deltaT: 4.486832 s, approachRate: 0.548271 m/s, LOS rate: 4.408666 deg/s, posRepo size: 4
2021-08-14T17:00:03.415Z,1628960403.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.160004 m,
      bearing: 111.291580 deg,
      approachRate: 0.548271 m/s,
      LOS rate: 4.408666 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 120.167594 deg,
      new cmd heading: 119.115962 deg.

2021-08-14T17:00:05.802Z,1628960405.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:06.153Z,1628960406.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:06.153Z,1628960406.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:06.153Z,1628960406.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:06.154Z,1628960406.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:06.553Z,1628960406.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00777,186,80,80,75,FF
2021-08-14T17:00:06.553Z,1628960406.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:06.553Z,1628960406.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:06.555Z,1628960406.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:06.960Z,1628960406.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:07.369Z,1628960407.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00796,187,80,80,1F,FF
2021-08-14T17:00:07.370Z,1628960407.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:07.373Z,1628960407.373 [Micromodem](INFO): Nmea in: $SNTTA,0.233670,0.233376,,,170008.39*59

2021-08-14T17:00:07.822Z,1628960407.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 88.045141 deg, deltaT: 4.451134 s, approachRate: 0.417871 m/s, LOS rate: -5.222588 deg/s, posRepo size: 4
2021-08-14T17:00:07.825Z,1628960407.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.020004 m,
      bearing: 88.045141 deg,
      approachRate: 0.417871 m/s,
      LOS rate: -5.222588 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 173.577232 deg,
      new cmd heading: 178.075648 deg.

2021-08-14T17:00:10.227Z,1628960410.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:10.594Z,1628960410.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:10.594Z,1628960410.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:10.594Z,1628960410.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:10.595Z,1628960410.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:10.997Z,1628960410.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00796,187,80,80,1F,FF
2021-08-14T17:00:10.997Z,1628960410.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:10.997Z,1628960410.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:10.999Z,1628960410.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:11.409Z,1628960411.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:12.238Z,1628960412.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170012.84*57

2021-08-14T17:00:13.049Z,1628960413.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:14.645Z,1628960414.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,1F,FF
2021-08-14T17:00:14.645Z,1628960414.645 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,1F,FF
2021-08-14T17:00:14.646Z,1628960414.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:00:15.889Z,1628960415.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:16.253Z,1628960416.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:16.253Z,1628960416.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:16.253Z,1628960416.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:16.254Z,1628960416.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:16.657Z,1628960416.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,1F,FF
2021-08-14T17:00:16.657Z,1628960416.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:16.657Z,1628960416.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:16.659Z,1628960416.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:17.057Z,1628960417.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:17.461Z,1628960417.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,007A4,186,80,80,99,FF
2021-08-14T17:00:17.462Z,1628960417.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:17.465Z,1628960417.465 [Micromodem](INFO): Nmea in: $SNTTA,0.181340,0.139283,,,170018.50*59

2021-08-14T17:00:17.919Z,1628960417.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.860001 m, bearing: 164.979162 deg, deltaT: 10.072217 s, approachRate: 0.083397 m/s, LOS rate: 7.638241 deg/s, posRepo size: 4
2021-08-14T17:00:17.925Z,1628960417.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.860001 m,
      bearing: 164.979162 deg,
      approachRate: 0.083397 m/s,
      LOS rate: 7.638241 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.656733 deg,
      new cmd heading: 47.926849 deg.

2021-08-14T17:00:20.306Z,1628960420.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:20.716Z,1628960420.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:20.717Z,1628960420.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:20.717Z,1628960420.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:20.719Z,1628960420.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:21.097Z,1628960421.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,007A4,186,80,80,99,FF
2021-08-14T17:00:21.097Z,1628960421.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:21.097Z,1628960421.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:21.099Z,1628960421.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:21.513Z,1628960421.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:21.905Z,1628960421.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBB,000,007AC,189,80,80,5F,FF
2021-08-14T17:00:21.905Z,1628960421.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:22.354Z,1628960422.354 [Micromodem](INFO): Nmea in: $SNTTA,0.088153,,,,170022.94*4C

2021-08-14T17:00:22.376Z,1628960422.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 168.842399 deg, deltaT: 4.432621 s, approachRate: 0.108289 m/s, LOS rate: 0.871547 deg/s, posRepo size: 4
2021-08-14T17:00:22.378Z,1628960422.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.340004 m,
      bearing: 168.842399 deg,
      approachRate: 0.108289 m/s,
      LOS rate: 0.871547 deg/s,
      cmd update: 2.614641 deg/s,
      cmd heading: 105.846050 deg,
      new cmd heading: 110.872514 deg.

2021-08-14T17:00:24.798Z,1628960424.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:25.160Z,1628960425.160 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:25.161Z,1628960425.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:25.161Z,1628960425.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:25.163Z,1628960425.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:25.555Z,1628960425.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBB,000,007AC,189,80,80,5F,FF
2021-08-14T17:00:25.555Z,1628960425.555 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:25.555Z,1628960425.555 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:25.557Z,1628960425.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:25.952Z,1628960425.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:26.349Z,1628960426.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,007C0,186,80,80,82,FF
2021-08-14T17:00:26.350Z,1628960426.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:26.793Z,1628960426.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170027.40*59

2021-08-14T17:00:26.830Z,1628960426.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 126.383293 deg, deltaT: 4.409574 s, approachRate: 0.272134 m/s, LOS rate: -9.628846 deg/s, posRepo size: 4
2021-08-14T17:00:26.833Z,1628960426.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 126.383293 deg,
      approachRate: 0.272134 m/s,
      LOS rate: -9.628846 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 117.376129 deg,
      new cmd heading: 118.588974 deg.

2021-08-14T17:00:29.250Z,1628960429.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:29.591Z,1628960429.591 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:29.592Z,1628960429.592 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:29.592Z,1628960429.592 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:29.593Z,1628960429.593 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:29.994Z,1628960429.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,007C0,186,80,80,82,FF
2021-08-14T17:00:29.994Z,1628960429.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:29.995Z,1628960429.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:29.996Z,1628960429.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:30.396Z,1628960430.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:30.789Z,1628960430.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,007E8,189,80,80,73,FF
2021-08-14T17:00:30.790Z,1628960430.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:31.254Z,1628960431.254 [Micromodem](INFO): Nmea in: $SNTTA,0.069045,,,,170031.83*41

2021-08-14T17:00:31.290Z,1628960431.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 142.087291 deg, deltaT: 4.486879 s, approachRate: 0.534893 m/s, LOS rate: 3.499983 deg/s, posRepo size: 4
2021-08-14T17:00:31.294Z,1628960431.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 142.087291 deg,
      approachRate: 0.534893 m/s,
      LOS rate: 3.499983 deg/s,
      cmd update: 10.499947 deg/s,
      cmd heading: 63.581471 deg,
      new cmd heading: 58.299635 deg.

2021-08-14T17:00:33.674Z,1628960433.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:34.029Z,1628960434.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:34.029Z,1628960434.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:34.030Z,1628960434.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:34.031Z,1628960434.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:34.438Z,1628960434.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,007E8,189,80,80,73,FF
2021-08-14T17:00:34.438Z,1628960434.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:34.438Z,1628960434.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:34.440Z,1628960434.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:34.837Z,1628960434.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:35.237Z,1628960435.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,00805,187,80,80,66,FF
2021-08-14T17:00:35.237Z,1628960435.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:35.708Z,1628960435.708 [Micromodem](INFO): Nmea in: $SNTTA,,0.289385,,,170036.28*44

2021-08-14T17:00:35.758Z,1628960435.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.680008 m, bearing: 69.921111 deg, deltaT: 4.443823 s, approachRate: 0.391556 m/s, LOS rate: -16.239661 deg/s, posRepo size: 4
2021-08-14T17:00:35.758Z,1628960435.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.239661 deg/s. Setting heading cmd to target bearing of 69.921111deg and heading rate command to 0 deg/s.
2021-08-14T17:00:38.106Z,1628960438.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:38.477Z,1628960438.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:38.477Z,1628960438.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:38.477Z,1628960438.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:38.478Z,1628960438.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:38.877Z,1628960438.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,00805,187,80,80,66,FF
2021-08-14T17:00:38.877Z,1628960438.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:38.877Z,1628960438.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:38.879Z,1628960438.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:39.289Z,1628960439.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:39.709Z,1628960439.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,0082F,185,80,80,73,FF
2021-08-14T17:00:39.711Z,1628960439.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:40.120Z,1628960440.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.200005 m, bearing: 72.811312 deg, deltaT: 4.480779 s, approachRate: 0.562401 m/s, LOS rate: 0.645022 deg/s, posRepo size: 4
2021-08-14T17:00:40.122Z,1628960440.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.200005 m,
      bearing: 72.811312 deg,
      approachRate: 0.562401 m/s,
      LOS rate: 0.645022 deg/s,
      cmd update: 1.935066 deg/s,
      cmd heading: 69.921111 deg,
      new cmd heading: 69.921111 deg.

2021-08-14T17:00:42.542Z,1628960442.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:42.935Z,1628960442.935 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:42.936Z,1628960442.936 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:42.936Z,1628960442.936 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:42.937Z,1628960442.937 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:43.329Z,1628960443.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,0082F,185,80,80,73,FF
2021-08-14T17:00:43.329Z,1628960443.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:43.329Z,1628960443.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:43.331Z,1628960443.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:43.752Z,1628960443.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:44.141Z,1628960444.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,0085D,189,80,80,70,FF
2021-08-14T17:00:44.141Z,1628960444.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:44.569Z,1628960444.569 [Micromodem](INFO): Nmea in: $SNTTA,0.064699,,,,170045.17*45

2021-08-14T17:00:44.599Z,1628960444.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.959999 m, bearing: 50.201737 deg, deltaT: 4.379684 s, approachRate: 0.630181 m/s, LOS rate: -5.162376 deg/s, posRepo size: 4
2021-08-14T17:00:44.645Z,1628960444.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.959999 m,
      bearing: 50.201737 deg,
      approachRate: 0.630181 m/s,
      LOS rate: -5.162376 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 78.403855 deg,
      new cmd heading: 79.255733 deg.

2021-08-14T17:00:47.049Z,1628960447.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:47.413Z,1628960447.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:47.414Z,1628960447.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:47.414Z,1628960447.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:47.415Z,1628960447.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:47.813Z,1628960447.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,0085D,189,80,80,70,FF
2021-08-14T17:00:47.813Z,1628960447.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:47.813Z,1628960447.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:47.815Z,1628960447.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:48.221Z,1628960448.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:48.629Z,1628960448.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00892,186,80,80,92,FF
2021-08-14T17:00:48.629Z,1628960448.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:49.061Z,1628960449.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170049.65*56

2021-08-14T17:00:49.117Z,1628960449.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.140007 m, bearing: 80.548824 deg, deltaT: 4.532802 s, approachRate: 0.701555 m/s, LOS rate: 6.694995 deg/s, posRepo size: 4
2021-08-14T17:00:49.146Z,1628960449.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.140007 m,
      bearing: 80.548824 deg,
      approachRate: 0.701555 m/s,
      LOS rate: 6.694995 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.497585 deg,
      new cmd heading: 18.955073 deg.

2021-08-14T17:00:49.484Z,1628960449.484 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T17:00:49.484Z,1628960449.484 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T17:00:49.484Z,1628960449.484 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T17:00:49.656Z,1628960449.656 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T17:00:49.928Z,1628960449.928 [RDI_Pathfinder](INFO): Powering down
2021-08-14T17:00:50.852Z,1628960450.852 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T17:00:50.852Z,1628960450.852 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T17:00:51.471Z,1628960451.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:51.853Z,1628960451.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:51.853Z,1628960451.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:51.853Z,1628960451.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:51.854Z,1628960451.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:52.261Z,1628960452.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,00892,186,80,80,92,FF
2021-08-14T17:00:52.261Z,1628960452.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:52.261Z,1628960452.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:52.263Z,1628960452.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:52.677Z,1628960452.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:53.077Z,1628960453.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E8,000,008C4,189,80,80,7B,FF
2021-08-14T17:00:53.078Z,1628960453.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:53.509Z,1628960453.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170054.11*59

2021-08-14T17:00:53.531Z,1628960453.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.139999 m, bearing: 21.465492 deg, deltaT: 4.413444 s, approachRate: 0.679740 m/s, LOS rate: -13.387127 deg/s, posRepo size: 4
2021-08-14T17:00:53.534Z,1628960453.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.387127 deg/s. Setting heading cmd to target bearing of 21.465492deg and heading rate command to 0 deg/s.
2021-08-14T17:00:55.925Z,1628960455.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:00:56.310Z,1628960456.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:00:56.310Z,1628960456.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:00:56.310Z,1628960456.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:00:56.311Z,1628960456.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:00:56.732Z,1628960456.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E8,000,008C4,189,80,80,7B,FF
2021-08-14T17:00:56.732Z,1628960456.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:00:56.732Z,1628960456.732 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:00:56.734Z,1628960456.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:00:57.122Z,1628960457.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:00:57.509Z,1628960457.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D9,000,008EF,189,80,80,94,FF
2021-08-14T17:00:57.510Z,1628960457.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:00:57.993Z,1628960457.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170058.58*58

2021-08-14T17:00:58.039Z,1628960458.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.720001 m, bearing: 343.345113 deg, deltaT: 4.468390 s, approachRate: 0.577390 m/s, LOS rate: -8.531120 deg/s, posRepo size: 4
2021-08-14T17:00:58.041Z,1628960458.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.720001 m,
      bearing: 343.345113 deg,
      approachRate: 0.577390 m/s,
      LOS rate: -8.531120 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 21.465492 deg,
      new cmd heading: 21.465492 deg.

2021-08-14T17:01:00.377Z,1628960460.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:00.776Z,1628960460.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:00.777Z,1628960460.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:00.777Z,1628960460.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:00.778Z,1628960460.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:01.161Z,1628960461.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D9,000,008EF,189,80,80,94,FF
2021-08-14T17:01:01.161Z,1628960461.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:01.161Z,1628960461.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:01.163Z,1628960461.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:01.556Z,1628960461.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:01.958Z,1628960461.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,0091B,184,80,80,72,FF
2021-08-14T17:01:01.958Z,1628960461.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:02.389Z,1628960462.389 [Micromodem](INFO): Nmea in: $SNTTA,0.073187,,,,170103.00*4E

2021-08-14T17:01:02.411Z,1628960462.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 45.659200 deg, deltaT: 4.450744 s, approachRate: 0.593159 m/s, LOS rate: 14.000821 deg/s, posRepo size: 4
2021-08-14T17:01:02.436Z,1628960462.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.000821 deg/s. Setting heading cmd to target bearing of 45.659200deg and heading rate command to 0 deg/s.
2021-08-14T17:01:04.817Z,1628960464.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:05.221Z,1628960465.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:05.221Z,1628960465.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:05.221Z,1628960465.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:05.222Z,1628960465.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:05.594Z,1628960465.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,0091B,184,80,80,72,FF
2021-08-14T17:01:05.594Z,1628960465.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:05.594Z,1628960465.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:05.597Z,1628960465.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:06.016Z,1628960466.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:06.401Z,1628960466.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,00946,189,80,80,AF,FF
2021-08-14T17:01:06.401Z,1628960466.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:06.842Z,1628960466.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170107.44*5E

2021-08-14T17:01:06.869Z,1628960466.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.939995 m, bearing: 347.954097 deg, deltaT: 4.422802 s, approachRate: 0.583339 m/s, LOS rate: -13.047185 deg/s, posRepo size: 4
2021-08-14T17:01:06.870Z,1628960466.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.047185 deg/s. Setting heading cmd to target bearing of 347.954097deg and heading rate command to 0 deg/s.
2021-08-14T17:01:09.305Z,1628960469.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:09.637Z,1628960469.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:09.637Z,1628960469.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:09.637Z,1628960469.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:09.638Z,1628960469.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:10.046Z,1628960470.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35F,000,00946,189,80,80,AF,FF
2021-08-14T17:01:10.047Z,1628960470.047 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:10.047Z,1628960470.047 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:10.050Z,1628960470.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:10.440Z,1628960470.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:10.853Z,1628960470.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00968,188,80,80,A3,FF
2021-08-14T17:01:10.855Z,1628960470.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:11.265Z,1628960471.265 [Micromodem](INFO): Nmea in: $SNTTA,0.439549,0.439861,,,170111.89*5F

2021-08-14T17:01:11.322Z,1628960471.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 339.381827 deg, deltaT: 4.481603 s, approachRate: 0.455196 m/s, LOS rate: -1.912769 deg/s, posRepo size: 4
2021-08-14T17:01:11.324Z,1628960471.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 339.381827 deg,
      approachRate: 0.455196 m/s,
      LOS rate: -1.912769 deg/s,
      cmd update: -5.738306 deg/s,
      cmd heading: 347.954097 deg,
      new cmd heading: 347.954097 deg.

2021-08-14T17:01:13.727Z,1628960473.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:14.079Z,1628960474.079 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:14.079Z,1628960474.079 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:14.079Z,1628960474.079 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:14.080Z,1628960474.080 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:14.473Z,1628960474.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00968,188,80,80,A3,FF
2021-08-14T17:01:14.473Z,1628960474.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:14.474Z,1628960474.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:14.475Z,1628960474.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:14.881Z,1628960474.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:15.289Z,1628960475.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,00982,186,80,80,27,FF
2021-08-14T17:01:15.290Z,1628960475.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:15.738Z,1628960475.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170116.31*5C

2021-08-14T17:01:15.798Z,1628960475.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.540001 m, bearing: 340.083807 deg, deltaT: 4.419011 s, approachRate: 0.353020 m/s, LOS rate: 0.158854 deg/s, posRepo size: 4
2021-08-14T17:01:15.799Z,1628960475.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.540001 m,
      bearing: 340.083807 deg,
      approachRate: 0.353020 m/s,
      LOS rate: 0.158854 deg/s,
      cmd update: 0.476563 deg/s,
      cmd heading: 322.573565 deg,
      new cmd heading: 319.984143 deg.

2021-08-14T17:01:18.157Z,1628960478.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:18.521Z,1628960478.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:18.521Z,1628960478.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:18.521Z,1628960478.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:18.522Z,1628960478.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:18.929Z,1628960478.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,00982,186,80,80,27,FF
2021-08-14T17:01:18.929Z,1628960478.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:18.929Z,1628960478.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:18.931Z,1628960478.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:19.337Z,1628960479.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:19.775Z,1628960479.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0098A,189,80,80,9E,FF
2021-08-14T17:01:19.775Z,1628960479.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:20.169Z,1628960480.169 [Micromodem](INFO): Nmea in: $SNTTA,,0.040661,,,170120.77*40

2021-08-14T17:01:20.205Z,1628960480.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.020004 m, bearing: 275.803995 deg, deltaT: 4.506580 s, approachRate: 0.106512 m/s, LOS rate: -14.263546 deg/s, posRepo size: 4
2021-08-14T17:01:20.206Z,1628960480.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.263546 deg/s. Setting heading cmd to target bearing of 275.803995deg and heading rate command to 0 deg/s.
2021-08-14T17:01:22.623Z,1628960482.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:22.789Z,1628960482.789 [CTD_Seabird](ERROR): Failed to parse device response: 12,4805.23
2021-08-14T17:01:22.977Z,1628960482.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:22.977Z,1628960482.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:22.978Z,1628960482.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:22.978Z,1628960482.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:23.377Z,1628960483.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0098A,189,80,80,9E,FF
2021-08-14T17:01:23.377Z,1628960483.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:23.377Z,1628960483.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:23.379Z,1628960483.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:23.777Z,1628960483.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:24.177Z,1628960484.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00988,189,80,80,AF,FF
2021-08-14T17:01:24.177Z,1628960484.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:24.610Z,1628960484.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170125.22*5E

2021-08-14T17:01:24.673Z,1628960484.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.900002 m, bearing: 260.321513 deg, deltaT: 4.341252 s, approachRate: -0.027642 m/s, LOS rate: -3.566363 deg/s, posRepo size: 4
2021-08-14T17:01:24.683Z,1628960484.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.900002 m,
      bearing: 260.321513 deg,
      approachRate: -0.027642 m/s,
      LOS rate: -3.566363 deg/s,
      cmd update: -10.699090 deg/s,
      cmd heading: 275.803995 deg,
      new cmd heading: 275.803995 deg.

2021-08-14T17:01:27.040Z,1628960487.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:27.417Z,1628960487.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:27.417Z,1628960487.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:27.417Z,1628960487.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:27.418Z,1628960487.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:27.813Z,1628960487.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00988,189,80,80,AF,FF
2021-08-14T17:01:27.813Z,1628960487.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:27.813Z,1628960487.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:27.815Z,1628960487.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:28.221Z,1628960488.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:28.625Z,1628960488.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00977,189,80,80,C5,FF
2021-08-14T17:01:28.626Z,1628960488.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:29.058Z,1628960489.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170129.66*52

2021-08-14T17:01:29.088Z,1628960489.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.879997 m, bearing: 242.081439 deg, deltaT: 4.476448 s, approachRate: -0.227860 m/s, LOS rate: -4.074676 deg/s, posRepo size: 4
2021-08-14T17:01:29.090Z,1628960489.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.879997 m,
      bearing: 242.081439 deg,
      approachRate: -0.227860 m/s,
      LOS rate: -4.074676 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 227.956038 deg,
      new cmd heading: 223.451144 deg.

2021-08-14T17:01:31.511Z,1628960491.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:31.857Z,1628960491.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:31.857Z,1628960491.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:31.857Z,1628960491.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:31.858Z,1628960491.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:32.253Z,1628960492.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00977,189,80,80,C5,FF
2021-08-14T17:01:32.253Z,1628960492.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:32.253Z,1628960492.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:32.255Z,1628960492.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:32.665Z,1628960492.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:33.061Z,1628960493.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,399,000,0095D,189,80,80,B8,FF
2021-08-14T17:01:33.061Z,1628960493.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:33.481Z,1628960493.481 [Micromodem](INFO): Nmea in: $SNTTA,0.335348,0.334360,,,170134.10*54

2021-08-14T17:01:33.533Z,1628960493.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.320007 m, bearing: 241.746595 deg, deltaT: 4.522304 s, approachRate: -0.344955 m/s, LOS rate: -0.074043 deg/s, posRepo size: 4
2021-08-14T17:01:33.535Z,1628960493.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.320007 m,
      bearing: 241.746595 deg,
      approachRate: -0.344955 m/s,
      LOS rate: -0.074043 deg/s,
      cmd update: -0.222128 deg/s,
      cmd heading: 173.880797 deg,
      new cmd heading: 169.566436 deg.

2021-08-14T17:01:35.930Z,1628960495.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:36.289Z,1628960496.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:36.289Z,1628960496.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:36.289Z,1628960496.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:36.290Z,1628960496.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:36.701Z,1628960496.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
399,000,0095D,189,80,80,B8,FF
2021-08-14T17:01:36.702Z,1628960496.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:36.703Z,1628960496.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:36.709Z,1628960496.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:37.123Z,1628960497.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:37.513Z,1628960497.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,0093B,188,80,80,6F,FF
2021-08-14T17:01:37.514Z,1628960497.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:37.989Z,1628960497.989 [Micromodem](INFO): Nmea in: $SNTTA,0.085904,,,,170138.55*4C

2021-08-14T17:01:38.044Z,1628960498.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.280006 m, bearing: 241.194497 deg, deltaT: 4.406915 s, approachRate: -0.462909 m/s, LOS rate: -0.125280 deg/s, posRepo size: 4
2021-08-14T17:01:38.046Z,1628960498.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.280006 m,
      bearing: 241.194497 deg,
      approachRate: -0.462909 m/s,
      LOS rate: -0.125280 deg/s,
      cmd update: -0.375840 deg/s,
      cmd heading: 172.897945 deg,
      new cmd heading: 172.804134 deg.

2021-08-14T17:01:40.365Z,1628960500.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:40.773Z,1628960500.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:40.773Z,1628960500.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:40.773Z,1628960500.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:40.774Z,1628960500.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:41.177Z,1628960501.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,0093B,188,80,80,6F,FF
2021-08-14T17:01:41.177Z,1628960501.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:41.177Z,1628960501.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:41.179Z,1628960501.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:41.549Z,1628960501.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:41.953Z,1628960501.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,134,000,00908,186,80,80,90,FF
2021-08-14T17:01:41.954Z,1628960501.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:42.375Z,1628960502.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170143.02*5C

2021-08-14T17:01:42.420Z,1628960502.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.219994 m, bearing: 234.184702 deg, deltaT: 4.380224 s, approachRate: -0.698597 m/s, LOS rate: -1.600328 deg/s, posRepo size: 4
2021-08-14T17:01:42.422Z,1628960502.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.219994 m,
      bearing: 234.184702 deg,
      approachRate: -0.698597 m/s,
      LOS rate: -1.600328 deg/s,
      cmd update: -4.800984 deg/s,
      cmd heading: 171.250764 deg,
      new cmd heading: 171.087106 deg.

2021-08-14T17:01:44.826Z,1628960504.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:45.205Z,1628960505.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:45.205Z,1628960505.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:45.205Z,1628960505.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:45.206Z,1628960505.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:45.599Z,1628960505.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
134,000,00908,186,80,80,90,FF
2021-08-14T17:01:45.599Z,1628960505.599 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:45.599Z,1628960505.599 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:45.602Z,1628960505.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:45.999Z,1628960505.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:46.393Z,1628960506.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,008D7,184,80,80,89,FF
2021-08-14T17:01:46.394Z,1628960506.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:46.837Z,1628960506.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170147.44*5A

2021-08-14T17:01:46.892Z,1628960506.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.280006 m, bearing: 235.389083 deg, deltaT: 4.462438 s, approachRate: -0.658830 m/s, LOS rate: 0.269893 deg/s, posRepo size: 4
2021-08-14T17:01:46.894Z,1628960506.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.280006 m,
      bearing: 235.389083 deg,
      approachRate: -0.658830 m/s,
      LOS rate: 0.269893 deg/s,
      cmd update: 0.809679 deg/s,
      cmd heading: 149.845979 deg,
      new cmd heading: 147.786966 deg.

2021-08-14T17:01:49.263Z,1628960509.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:49.633Z,1628960509.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:49.633Z,1628960509.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:49.633Z,1628960509.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:49.634Z,1628960509.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:50.029Z,1628960510.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,008D7,184,80,80,89,FF
2021-08-14T17:01:50.030Z,1628960510.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:50.030Z,1628960510.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:50.031Z,1628960510.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:50.433Z,1628960510.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:50.838Z,1628960510.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,008A2,187,80,80,99,FF
2021-08-14T17:01:50.838Z,1628960510.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:51.269Z,1628960511.269 [Micromodem](INFO): Nmea in: $SNTTA,0.488344,0.488462,,,170151.87*51

2021-08-14T17:01:51.316Z,1628960511.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 235.639231 deg, deltaT: 4.446460 s, approachRate: -0.715177 m/s, LOS rate: 0.056258 deg/s, posRepo size: 4
2021-08-14T17:01:51.318Z,1628960511.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.099998 m,
      bearing: 235.639231 deg,
      approachRate: -0.715177 m/s,
      LOS rate: 0.056258 deg/s,
      cmd update: 0.168774 deg/s,
      cmd heading: 153.429670 deg,
      new cmd heading: 153.795059 deg.

2021-08-14T17:01:53.728Z,1628960513.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:54.069Z,1628960514.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:54.069Z,1628960514.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:54.069Z,1628960514.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:54.070Z,1628960514.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:54.482Z,1628960514.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,008A2,187,80,80,99,FF
2021-08-14T17:01:54.482Z,1628960514.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:54.482Z,1628960514.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:54.484Z,1628960514.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:54.880Z,1628960514.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:55.290Z,1628960515.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9E,000,00874,188,80,80,95,FF
2021-08-14T17:01:55.291Z,1628960515.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:01:55.737Z,1628960515.737 [Micromodem](INFO): Nmea in: $SNTTA,0.065794,,,,170156.33*4D

2021-08-14T17:01:55.783Z,1628960515.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.340004 m, bearing: 237.872649 deg, deltaT: 4.438011 s, approachRate: -0.621899 m/s, LOS rate: 0.503247 deg/s, posRepo size: 4
2021-08-14T17:01:55.797Z,1628960515.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.340004 m,
      bearing: 237.872649 deg,
      approachRate: -0.621899 m/s,
      LOS rate: 0.503247 deg/s,
      cmd update: 1.509742 deg/s,
      cmd heading: 154.182805 deg,
      new cmd heading: 154.259777 deg.

2021-08-14T17:01:58.127Z,1628960518.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:01:58.521Z,1628960518.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:01:58.521Z,1628960518.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:01:58.521Z,1628960518.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:01:58.522Z,1628960518.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:01:58.917Z,1628960518.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9E,000,00874,188,80,80,95,FF
2021-08-14T17:01:58.917Z,1628960518.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:01:58.917Z,1628960518.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:01:58.919Z,1628960518.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:01:59.325Z,1628960519.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:01:59.749Z,1628960519.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B24,000,00852,189,80,80,9F,FF
2021-08-14T17:01:59.749Z,1628960519.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:00.167Z,1628960520.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.299995 m, bearing: 239.980144 deg, deltaT: 4.472190 s, approachRate: -0.456154 m/s, LOS rate: 0.471245 deg/s, posRepo size: 4
2021-08-14T17:02:00.170Z,1628960520.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.299995 m,
      bearing: 239.980144 deg,
      approachRate: -0.456154 m/s,
      LOS rate: 0.471245 deg/s,
      cmd update: 1.413734 deg/s,
      cmd heading: 160.934687 deg,
      new cmd heading: 161.490291 deg.

2021-08-14T17:02:02.575Z,1628960522.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:02.985Z,1628960522.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:02.985Z,1628960522.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:02.985Z,1628960522.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:02.986Z,1628960522.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:03.361Z,1628960523.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B24,000,00852,189,80,80,9F,FF
2021-08-14T17:02:03.361Z,1628960523.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:03.361Z,1628960523.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:03.363Z,1628960523.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:03.781Z,1628960523.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:04.169Z,1628960524.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0083C,18A,80,80,8B,FF
2021-08-14T17:02:04.170Z,1628960524.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:04.610Z,1628960524.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170205.21*5C

2021-08-14T17:02:04.642Z,1628960524.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 231.030875 deg, deltaT: 4.447870 s, approachRate: -0.296769 m/s, LOS rate: -2.012035 deg/s, posRepo size: 4
2021-08-14T17:02:04.645Z,1628960524.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 231.030875 deg,
      approachRate: -0.296769 m/s,
      LOS rate: -2.012035 deg/s,
      cmd update: -6.036105 deg/s,
      cmd heading: 167.217154 deg,
      new cmd heading: 167.781523 deg.

2021-08-14T17:02:07.038Z,1628960527.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:07.406Z,1628960527.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:07.406Z,1628960527.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:07.406Z,1628960527.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:07.407Z,1628960527.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:07.805Z,1628960527.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0083C,18A,80,80,8B,FF
2021-08-14T17:02:07.806Z,1628960527.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:07.806Z,1628960527.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:07.834Z,1628960527.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:08.213Z,1628960528.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:08.617Z,1628960528.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0082D,189,80,80,A1,FF
2021-08-14T17:02:08.618Z,1628960528.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:09.045Z,1628960529.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170209.68*5D

2021-08-14T17:02:09.091Z,1628960529.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.080002 m, bearing: 233.522228 deg, deltaT: 4.387461 s, approachRate: -0.205130 m/s, LOS rate: 0.567835 deg/s, posRepo size: 4
2021-08-14T17:02:09.093Z,1628960529.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.080002 m,
      bearing: 233.522228 deg,
      approachRate: -0.205130 m/s,
      LOS rate: 0.567835 deg/s,
      cmd update: 1.703504 deg/s,
      cmd heading: 140.709806 deg,
      new cmd heading: 137.955888 deg.

2021-08-14T17:02:11.176Z,1628960531.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:11.441Z,1628960531.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:11.441Z,1628960531.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:11.441Z,1628960531.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:11.442Z,1628960531.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:11.850Z,1628960531.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0082D,189,80,80,A1,FF
2021-08-14T17:02:11.850Z,1628960531.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:11.850Z,1628960531.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:11.852Z,1628960531.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:12.252Z,1628960532.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:12.672Z,1628960532.672 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0081D,189,80,80,AA,FF
2021-08-14T17:02:12.673Z,1628960532.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:13.100Z,1628960533.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170213.70*5F

2021-08-14T17:02:13.188Z,1628960533.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 221.393724 deg, deltaT: 4.099284 s, approachRate: -0.234187 m/s, LOS rate: -2.958688 deg/s, posRepo size: 4
2021-08-14T17:02:13.190Z,1628960533.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 221.393724 deg,
      approachRate: -0.234187 m/s,
      LOS rate: -2.958688 deg/s,
      cmd update: -8.876065 deg/s,
      cmd heading: 147.692929 deg,
      new cmd heading: 148.466124 deg.

2021-08-14T17:02:15.537Z,1628960535.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:15.897Z,1628960535.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:15.897Z,1628960535.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:15.897Z,1628960535.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:15.898Z,1628960535.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:16.297Z,1628960536.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0081D,189,80,80,AA,FF
2021-08-14T17:02:16.297Z,1628960536.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:16.297Z,1628960536.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:16.299Z,1628960536.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:16.717Z,1628960536.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:17.120Z,1628960537.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,0048B,186,80,80,BB,FF
2021-08-14T17:02:17.121Z,1628960537.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:17.521Z,1628960537.521 [Micromodem](INFO): Nmea in: $SNTTA,0.354474,0.354481,,,170218.14*5C

2021-08-14T17:02:17.570Z,1628960537.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.279999 m, bearing: 171.976855 deg, deltaT: 4.496595 s, approachRate: -12.195896 m/s, LOS rate: -10.989842 deg/s, posRepo size: 4
2021-08-14T17:02:17.571Z,1628960537.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.28 m.
2021-08-14T17:02:17.573Z,1628960537.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.279999 m,
      bearing: 171.976855 deg,
      approachRate: -12.195896 m/s,
      LOS rate: -10.989842 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 107.949346 deg,
      new cmd heading: 104.764241 deg.

2021-08-14T17:02:17.960Z,1628960537.960 [PowerOnly](INFO): Powering up loadControl
2021-08-14T17:02:18.011Z,1628960538.011 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T17:02:18.011Z,1628960538.011 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:02:18.011Z,1628960538.011 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T17:02:18.013Z,1628960538.013 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T17:02:18.013Z,1628960538.013 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T17:02:18.013Z,1628960538.013 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T17:02:18.373Z,1628960538.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T17:02:18.373Z,1628960538.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:02:18.374Z,1628960538.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T17:02:18.374Z,1628960538.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:02:19.992Z,1628960539.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:20.333Z,1628960540.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:20.333Z,1628960540.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:20.333Z,1628960540.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:20.334Z,1628960540.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:20.773Z,1628960540.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,0048B,186,80,80,BB,FF
2021-08-14T17:02:20.773Z,1628960540.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:20.773Z,1628960540.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:20.775Z,1628960540.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:21.166Z,1628960541.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:21.946Z,1628960541.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170222.62*5E

2021-08-14T17:02:22.818Z,1628960542.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:24.365Z,1628960544.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,BB,FF
2021-08-14T17:02:24.365Z,1628960544.365 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,BB,FF
2021-08-14T17:02:24.365Z,1628960544.365 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:02:25.635Z,1628960545.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:25.994Z,1628960545.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:25.994Z,1628960545.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:25.994Z,1628960545.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:25.995Z,1628960545.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:26.398Z,1628960546.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,BB,FF
2021-08-14T17:02:26.398Z,1628960546.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:26.399Z,1628960546.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:26.426Z,1628960546.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:26.805Z,1628960546.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:27.625Z,1628960547.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170228.27*55

2021-08-14T17:02:28.436Z,1628960548.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:30.021Z,1628960550.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,BB,FF
2021-08-14T17:02:30.021Z,1628960550.021 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,BB,FF
2021-08-14T17:02:30.022Z,1628960550.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:02:31.306Z,1628960551.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:31.649Z,1628960551.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:31.649Z,1628960551.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:31.649Z,1628960551.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:31.650Z,1628960551.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:32.042Z,1628960552.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,BB,FF
2021-08-14T17:02:32.043Z,1628960552.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:32.043Z,1628960552.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:32.046Z,1628960552.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:32.456Z,1628960552.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:32.858Z,1628960552.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00873,186,80,80,7D,FF
2021-08-14T17:02:32.859Z,1628960552.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:32.910Z,1628960552.910 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:02:33.289Z,1628960553.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170233.89*5B

2021-08-14T17:02:33.337Z,1628960553.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.280006 m, bearing: 115.622330 deg, deltaT: 15.676625 s, approachRate: 3.827355 m/s, LOS rate: -3.594812 deg/s, posRepo size: 4
2021-08-14T17:02:33.339Z,1628960553.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.280006 m,
      bearing: 115.622330 deg,
      approachRate: 3.827355 m/s,
      LOS rate: -3.594812 deg/s,
      cmd update: -10.784437 deg/s,
      cmd heading: 279.862841 deg,
      new cmd heading: 274.443881 deg.

2021-08-14T17:02:33.709Z,1628960553.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T17:02:33.709Z,1628960553.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T17:02:33.709Z,1628960553.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T17:02:33.710Z,1628960553.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T17:02:33.710Z,1628960553.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T17:02:33.710Z,1628960553.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T17:02:34.122Z,1628960554.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T17:02:34.123Z,1628960554.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T17:02:34.123Z,1628960554.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T17:02:34.123Z,1628960554.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T17:02:35.700Z,1628960555.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:36.110Z,1628960556.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:36.110Z,1628960556.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:36.110Z,1628960556.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:36.111Z,1628960556.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:36.489Z,1628960556.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00873,186,80,80,7D,FF
2021-08-14T17:02:36.489Z,1628960556.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:36.489Z,1628960556.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:36.491Z,1628960556.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:36.900Z,1628960556.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:37.301Z,1628960557.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,008A2,186,80,80,9F,FF
2021-08-14T17:02:37.301Z,1628960557.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:37.734Z,1628960557.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170238.33*51

2021-08-14T17:02:37.777Z,1628960557.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 93.953091 deg, deltaT: 4.486398 s, approachRate: 0.628565 m/s, LOS rate: -4.829986 deg/s, posRepo size: 4
2021-08-14T17:02:37.779Z,1628960557.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.099998 m,
      bearing: 93.953091 deg,
      approachRate: 0.628565 m/s,
      LOS rate: -4.829986 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 231.287873 deg,
      new cmd heading: 227.114576 deg.

2021-08-14T17:02:40.165Z,1628960560.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:40.529Z,1628960560.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:40.529Z,1628960560.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:40.529Z,1628960560.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:40.530Z,1628960560.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:40.945Z,1628960560.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,008A2,186,80,80,9F,FF
2021-08-14T17:02:40.945Z,1628960560.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:40.945Z,1628960560.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:40.947Z,1628960560.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:41.341Z,1628960561.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:41.778Z,1628960561.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,008D1,186,80,80,83,FF
2021-08-14T17:02:41.778Z,1628960561.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:42.206Z,1628960562.206 [Micromodem](INFO): Nmea in: $SNTTA,0.068722,,,,170242.79*45

2021-08-14T17:02:42.227Z,1628960562.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.919998 m, bearing: 83.862033 deg, deltaT: 4.458687 s, approachRate: 0.632473 m/s, LOS rate: -2.263235 deg/s, posRepo size: 4
2021-08-14T17:02:42.229Z,1628960562.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.919998 m,
      bearing: 83.862033 deg,
      approachRate: 0.632473 m/s,
      LOS rate: -2.263235 deg/s,
      cmd update: -6.789706 deg/s,
      cmd heading: 177.736467 deg,
      new cmd heading: 173.245203 deg.

2021-08-14T17:02:44.594Z,1628960564.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:44.979Z,1628960564.979 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:44.979Z,1628960564.979 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:44.979Z,1628960564.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:44.980Z,1628960564.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:45.377Z,1628960565.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,008D1,186,80,80,83,FF
2021-08-14T17:02:45.377Z,1628960565.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:45.377Z,1628960565.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:45.379Z,1628960565.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:45.785Z,1628960565.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:46.197Z,1628960566.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,008F8,186,80,80,A1,FF
2021-08-14T17:02:46.197Z,1628960566.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:46.635Z,1628960566.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170247.22*59

2021-08-14T17:02:46.707Z,1628960566.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 133.107246 deg, deltaT: 4.375642 s, approachRate: 0.534780 m/s, LOS rate: 11.254397 deg/s, posRepo size: 4
2021-08-14T17:02:46.713Z,1628960566.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.260002 m,
      bearing: 133.107246 deg,
      approachRate: 0.534780 m/s,
      LOS rate: 11.254397 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 148.057984 deg,
      new cmd heading: 144.815425 deg.

2021-08-14T17:02:49.043Z,1628960569.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:49.417Z,1628960569.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:49.417Z,1628960569.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:49.417Z,1628960569.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:49.418Z,1628960569.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:49.829Z,1628960569.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,008F8,186,80,80,A1,FF
2021-08-14T17:02:49.829Z,1628960569.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:49.829Z,1628960569.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:49.831Z,1628960569.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:50.233Z,1628960570.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:50.657Z,1628960570.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,00918,186,80,80,8B,FF
2021-08-14T17:02:50.658Z,1628960570.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:51.082Z,1628960571.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170251.67*5F

2021-08-14T17:02:51.112Z,1628960571.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.180008 m, bearing: 117.346024 deg, deltaT: 4.501708 s, approachRate: 0.426506 m/s, LOS rate: -3.501165 deg/s, posRepo size: 4
2021-08-14T17:02:51.168Z,1628960571.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.180008 m,
      bearing: 117.346024 deg,
      approachRate: 0.426506 m/s,
      LOS rate: -3.501165 deg/s,
      cmd update: -10.503494 deg/s,
      cmd heading: 201.991122 deg,
      new cmd heading: 206.672154 deg.

2021-08-14T17:02:53.504Z,1628960573.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:53.861Z,1628960573.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:53.861Z,1628960573.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:53.861Z,1628960573.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:53.862Z,1628960573.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:54.270Z,1628960574.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,00918,186,80,80,8B,FF
2021-08-14T17:02:54.270Z,1628960574.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:54.270Z,1628960574.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:54.271Z,1628960574.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:54.677Z,1628960574.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:55.078Z,1628960575.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDE,000,00934,189,80,80,9F,FF
2021-08-14T17:02:55.079Z,1628960575.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:55.518Z,1628960575.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170256.11*59

2021-08-14T17:02:55.554Z,1628960575.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.860008 m, bearing: 189.217537 deg, deltaT: 4.472835 s, approachRate: 0.375601 m/s, LOS rate: 16.068447 deg/s, posRepo size: 4
2021-08-14T17:02:55.555Z,1628960575.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.068447 deg/s. Setting heading cmd to target bearing of 189.217537deg and heading rate command to 0 deg/s.
2021-08-14T17:02:57.935Z,1628960577.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:02:58.309Z,1628960578.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:02:58.309Z,1628960578.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:02:58.310Z,1628960578.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:02:58.311Z,1628960578.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:02:58.709Z,1628960578.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDE,000,00934,189,80,80,9F,FF
2021-08-14T17:02:58.709Z,1628960578.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:02:58.709Z,1628960578.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:02:58.711Z,1628960578.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:02:59.159Z,1628960579.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:02:59.521Z,1628960579.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D68,000,0093D,189,80,80,7A,FF
2021-08-14T17:02:59.522Z,1628960579.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:02:59.958Z,1628960579.958 [Micromodem](INFO): Nmea in: $SNTTA,,0.073761,,,170300.55*41

2021-08-14T17:02:59.975Z,1628960579.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 198.275870 deg, deltaT: 4.373467 s, approachRate: 0.123470 m/s, LOS rate: 2.071202 deg/s, posRepo size: 4
2021-08-14T17:02:59.977Z,1628960579.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.400002 m,
      bearing: 198.275870 deg,
      approachRate: 0.123470 m/s,
      LOS rate: 2.071202 deg/s,
      cmd update: 6.213606 deg/s,
      cmd heading: 189.217537 deg,
      new cmd heading: 189.217537 deg.

2021-08-14T17:03:02.433Z,1628960582.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:02.749Z,1628960582.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:02.749Z,1628960582.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:02.750Z,1628960582.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:02.751Z,1628960582.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:03.204Z,1628960583.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D68,000,0093D,189,80,80,7A,FF
2021-08-14T17:03:03.204Z,1628960583.204 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:03.205Z,1628960583.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:03.206Z,1628960583.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:03.591Z,1628960583.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:03.974Z,1628960583.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,0093D,188,80,80,A6,FF
2021-08-14T17:03:03.974Z,1628960583.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:04.399Z,1628960584.399 [Micromodem](INFO): Nmea in: $SNTTA,0.069278,,,,170305.05*47

2021-08-14T17:03:04.461Z,1628960584.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 209.921547 deg, deltaT: 4.414804 s, approachRate: 0.000000 m/s, LOS rate: 2.637870 deg/s, posRepo size: 4
2021-08-14T17:03:04.481Z,1628960584.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.400002 m,
      bearing: 209.921547 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.637870 deg/s,
      cmd update: 7.913609 deg/s,
      cmd heading: 216.652700 deg,
      new cmd heading: 219.547725 deg.

2021-08-14T17:03:06.825Z,1628960586.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:07.213Z,1628960587.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:07.213Z,1628960587.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:07.213Z,1628960587.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:07.214Z,1628960587.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:07.606Z,1628960587.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,0093D,188,80,80,A6,FF
2021-08-14T17:03:07.606Z,1628960587.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:07.606Z,1628960587.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:07.609Z,1628960587.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:08.037Z,1628960588.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:08.418Z,1628960588.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00935,186,80,80,86,FF
2021-08-14T17:03:08.418Z,1628960588.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:08.845Z,1628960588.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170309.45*53

2021-08-14T17:03:08.868Z,1628960588.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 173.564109 deg, deltaT: 4.444838 s, approachRate: -0.107991 m/s, LOS rate: -8.179700 deg/s, posRepo size: 4
2021-08-14T17:03:08.870Z,1628960588.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 173.564109 deg,
      approachRate: -0.107991 m/s,
      LOS rate: -8.179700 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 251.827419 deg,
      new cmd heading: 255.246755 deg.

2021-08-14T17:03:11.336Z,1628960591.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:11.660Z,1628960591.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:11.660Z,1628960591.660 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:11.660Z,1628960591.660 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:11.661Z,1628960591.661 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:12.045Z,1628960592.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00935,186,80,80,86,FF
2021-08-14T17:03:12.045Z,1628960592.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:12.046Z,1628960592.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:12.047Z,1628960592.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:12.465Z,1628960592.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:12.485Z,1628960592.485 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:03:12.865Z,1628960592.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0A,000,0091B,189,80,80,AB,FF
2021-08-14T17:03:12.866Z,1628960592.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:13.321Z,1628960593.321 [Micromodem](INFO): Nmea in: $SNTTA,0.067946,,,,170313.89*4C

2021-08-14T17:03:13.408Z,1628960593.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 253.204538 deg, deltaT: 4.447257 s, approachRate: -0.350777 m/s, LOS rate: 17.907764 deg/s, posRepo size: 4
2021-08-14T17:03:13.409Z,1628960593.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.907764 deg/s. Setting heading cmd to target bearing of 253.204538deg and heading rate command to 0 deg/s.
2021-08-14T17:03:15.402Z,1628960595.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:15.689Z,1628960595.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:15.689Z,1628960595.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:15.690Z,1628960595.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:15.691Z,1628960595.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:16.093Z,1628960596.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0A,000,0091B,189,80,80,AB,FF
2021-08-14T17:03:16.093Z,1628960596.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:16.093Z,1628960596.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:16.095Z,1628960596.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:16.496Z,1628960596.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:16.905Z,1628960596.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3D,000,00774,18A,80,80,9F,FF
2021-08-14T17:03:16.906Z,1628960596.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:17.349Z,1628960597.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170317.94*50

2021-08-14T17:03:17.413Z,1628960597.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 261.665285 deg, deltaT: 4.040258 s, approachRate: -6.281776 m/s, LOS rate: 2.094110 deg/s, posRepo size: 4
2021-08-14T17:03:17.415Z,1628960597.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.980003 m,
      bearing: 261.665285 deg,
      approachRate: -6.281776 m/s,
      LOS rate: 2.094110 deg/s,
      cmd update: 6.282331 deg/s,
      cmd heading: 253.204538 deg,
      new cmd heading: 253.204538 deg.

2021-08-14T17:03:19.794Z,1628960599.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:20.133Z,1628960600.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:20.134Z,1628960600.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:20.134Z,1628960600.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:20.135Z,1628960600.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:20.533Z,1628960600.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3D,000,00774,18A,80,80,9F,FF
2021-08-14T17:03:20.533Z,1628960600.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:20.533Z,1628960600.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:20.535Z,1628960600.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:20.944Z,1628960600.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:21.354Z,1628960601.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,008D8,188,80,80,A6,FF
2021-08-14T17:03:21.354Z,1628960601.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:21.789Z,1628960601.789 [Micromodem](INFO): Nmea in: $SNTTA,0.065262,,,,170322.38*4B

2021-08-14T17:03:21.821Z,1628960601.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.339996 m, bearing: 267.716095 deg, deltaT: 4.504287 s, approachRate: 4.742147 m/s, LOS rate: 1.343345 deg/s, posRepo size: 4
2021-08-14T17:03:21.823Z,1628960601.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.339996 m,
      bearing: 267.716095 deg,
      approachRate: 4.742147 m/s,
      LOS rate: 1.343345 deg/s,
      cmd update: 4.030034 deg/s,
      cmd heading: 281.500604 deg,
      new cmd heading: 283.971545 deg.

2021-08-14T17:03:24.234Z,1628960604.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:24.574Z,1628960604.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:24.574Z,1628960604.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:24.574Z,1628960604.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:24.575Z,1628960604.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:24.986Z,1628960604.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,008D8,188,80,80,A6,FF
2021-08-14T17:03:24.986Z,1628960604.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:24.986Z,1628960604.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:24.988Z,1628960604.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:25.389Z,1628960605.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:25.789Z,1628960605.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,008AB,187,80,80,BC,FF
2021-08-14T17:03:25.790Z,1628960605.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:26.241Z,1628960606.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170326.83*54

2021-08-14T17:03:26.287Z,1628960606.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.640007 m, bearing: 261.231814 deg, deltaT: 4.403495 s, approachRate: -0.613147 m/s, LOS rate: -1.472531 deg/s, posRepo size: 4
2021-08-14T17:03:26.293Z,1628960606.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.640007 m,
      bearing: 261.231814 deg,
      approachRate: -0.613147 m/s,
      LOS rate: -1.472531 deg/s,
      cmd update: -4.417592 deg/s,
      cmd heading: 299.246766 deg,
      new cmd heading: 301.086223 deg.

2021-08-14T17:03:28.674Z,1628960608.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:29.025Z,1628960609.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:29.025Z,1628960609.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:29.026Z,1628960609.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:29.027Z,1628960609.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:29.421Z,1628960609.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,008AB,187,80,80,BC,FF
2021-08-14T17:03:29.421Z,1628960609.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:29.421Z,1628960609.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:29.423Z,1628960609.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:29.829Z,1628960609.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:30.233Z,1628960610.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,0087B,186,80,80,7C,FF
2021-08-14T17:03:30.234Z,1628960610.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:30.674Z,1628960610.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170331.26*5D

2021-08-14T17:03:30.696Z,1628960610.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 257.564904 deg, deltaT: 4.451649 s, approachRate: -0.646954 m/s, LOS rate: -0.823719 deg/s, posRepo size: 4
2021-08-14T17:03:30.698Z,1628960610.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.759995 m,
      bearing: 257.564904 deg,
      approachRate: -0.646954 m/s,
      LOS rate: -0.823719 deg/s,
      cmd update: -2.471158 deg/s,
      cmd heading: 279.580297 deg,
      new cmd heading: 277.752942 deg.

2021-08-14T17:03:33.167Z,1628960613.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:33.461Z,1628960613.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:33.461Z,1628960613.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:33.461Z,1628960613.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:33.462Z,1628960613.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:33.873Z,1628960613.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,0087B,186,80,80,7C,FF
2021-08-14T17:03:33.873Z,1628960613.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:33.873Z,1628960613.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:33.875Z,1628960613.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:34.273Z,1628960614.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:34.677Z,1628960614.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00844,187,80,80,4D,FF
2021-08-14T17:03:34.677Z,1628960614.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:35.137Z,1628960615.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170335.72*58

2021-08-14T17:03:35.195Z,1628960615.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.459999 m, bearing: 255.525600 deg, deltaT: 4.412031 s, approachRate: -0.747954 m/s, LOS rate: -0.462214 deg/s, posRepo size: 4
2021-08-14T17:03:35.197Z,1628960615.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.459999 m,
      bearing: 255.525600 deg,
      approachRate: -0.747954 m/s,
      LOS rate: -0.462214 deg/s,
      cmd update: -1.386642 deg/s,
      cmd heading: 268.677578 deg,
      new cmd heading: 267.441821 deg.

2021-08-14T17:03:37.566Z,1628960617.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:37.901Z,1628960617.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:37.901Z,1628960617.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:37.901Z,1628960617.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:37.902Z,1628960617.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:38.305Z,1628960618.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00844,187,80,80,4D,FF
2021-08-14T17:03:38.306Z,1628960618.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:38.306Z,1628960618.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:38.307Z,1628960618.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:38.717Z,1628960618.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:39.549Z,1628960619.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170340.15*5B

2021-08-14T17:03:40.384Z,1628960620.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:41.949Z,1628960621.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,4D,FF
2021-08-14T17:03:41.949Z,1628960621.949 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,4D,FF
2021-08-14T17:03:41.949Z,1628960621.949 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:03:43.241Z,1628960623.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:43.565Z,1628960623.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:43.565Z,1628960623.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:43.565Z,1628960623.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:43.566Z,1628960623.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:43.965Z,1628960623.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,4D,FF
2021-08-14T17:03:43.965Z,1628960623.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:43.966Z,1628960623.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:43.967Z,1628960623.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:44.401Z,1628960624.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:44.429Z,1628960624.429 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T17:03:44.777Z,1628960624.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,007DD,186,80,80,98,FF
2021-08-14T17:03:44.777Z,1628960624.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:45.226Z,1628960625.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170345.81*53

2021-08-14T17:03:45.315Z,1628960625.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.279999 m, bearing: 258.588312 deg, deltaT: 10.100223 s, approachRate: -0.611868 m/s, LOS rate: 0.303232 deg/s, posRepo size: 4
2021-08-14T17:03:45.325Z,1628960625.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.279999 m,
      bearing: 258.588312 deg,
      approachRate: -0.611868 m/s,
      LOS rate: 0.303232 deg/s,
      cmd update: 0.909696 deg/s,
      cmd heading: 254.672088 deg,
      new cmd heading: 253.951111 deg.

2021-08-14T17:03:47.650Z,1628960627.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:48.011Z,1628960628.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:48.011Z,1628960628.011 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:48.014Z,1628960628.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:48.052Z,1628960628.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:48.052Z,1628960628.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,007DD,186,80,80,98,FF
2021-08-14T17:03:48.052Z,1628960628.052 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:48.052Z,1628960628.052 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:48.054Z,1628960628.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:48.439Z,1628960628.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:48.817Z,1628960628.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,007B0,184,80,80,A6,FF
2021-08-14T17:03:48.817Z,1628960628.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:49.251Z,1628960629.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170349.90*5F

2021-08-14T17:03:49.300Z,1628960629.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.580009 m, bearing: 259.158988 deg, deltaT: 4.081319 s, approachRate: -0.661548 m/s, LOS rate: 0.139826 deg/s, posRepo size: 4
2021-08-14T17:03:49.302Z,1628960629.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.580009 m,
      bearing: 259.158988 deg,
      approachRate: -0.661548 m/s,
      LOS rate: 0.139826 deg/s,
      cmd update: 0.419479 deg/s,
      cmd heading: 258.380962 deg,
      new cmd heading: 258.770214 deg.

2021-08-14T17:03:51.675Z,1628960631.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:52.056Z,1628960632.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:52.057Z,1628960632.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:52.057Z,1628960632.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:52.059Z,1628960632.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:52.477Z,1628960632.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,007B0,184,80,80,A6,FF
2021-08-14T17:03:52.477Z,1628960632.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:52.477Z,1628960632.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:52.479Z,1628960632.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:52.862Z,1628960632.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:53.274Z,1628960633.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00778,186,80,80,B7,FF
2021-08-14T17:03:53.274Z,1628960633.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:53.689Z,1628960633.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170354.32*5B

2021-08-14T17:03:53.711Z,1628960633.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.220001 m, bearing: 258.021707 deg, deltaT: 4.479074 s, approachRate: -0.750157 m/s, LOS rate: -0.253910 deg/s, posRepo size: 4
2021-08-14T17:03:53.714Z,1628960633.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.220001 m,
      bearing: 258.021707 deg,
      approachRate: -0.750157 m/s,
      LOS rate: -0.253910 deg/s,
      cmd update: -0.761730 deg/s,
      cmd heading: 260.261517 deg,
      new cmd heading: 260.411081 deg.

2021-08-14T17:03:56.111Z,1628960636.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:03:56.531Z,1628960636.531 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:03:56.533Z,1628960636.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:03:56.534Z,1628960636.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:03:56.535Z,1628960636.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:03:56.889Z,1628960636.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00778,186,80,80,B7,FF
2021-08-14T17:03:56.889Z,1628960636.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:03:56.889Z,1628960636.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:03:56.891Z,1628960636.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:03:57.316Z,1628960637.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:03:57.721Z,1628960637.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,0074A,186,80,80,9E,FF
2021-08-14T17:03:57.721Z,1628960637.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:03:58.153Z,1628960638.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170358.73*52

2021-08-14T17:03:58.176Z,1628960638.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.459999 m, bearing: 259.082872 deg, deltaT: 4.397960 s, approachRate: -0.627564 m/s, LOS rate: 0.241286 deg/s, posRepo size: 4
2021-08-14T17:03:58.178Z,1628960638.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.459999 m,
      bearing: 259.082872 deg,
      approachRate: -0.627564 m/s,
      LOS rate: 0.241286 deg/s,
      cmd update: 0.723858 deg/s,
      cmd heading: 256.911472 deg,
      new cmd heading: 256.589479 deg.

2021-08-14T17:04:00.581Z,1628960640.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:00.937Z,1628960640.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:00.937Z,1628960640.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:00.937Z,1628960640.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:00.938Z,1628960640.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:01.347Z,1628960641.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,0074A,186,80,80,9E,FF
2021-08-14T17:04:01.348Z,1628960641.348 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:01.348Z,1628960641.348 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:01.351Z,1628960641.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:01.753Z,1628960641.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:02.195Z,1628960642.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00717,186,80,80,8F,FF
2021-08-14T17:04:02.195Z,1628960642.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:02.594Z,1628960642.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170403.20*5D

2021-08-14T17:04:02.632Z,1628960642.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 259.464051 deg, deltaT: 4.472891 s, approachRate: -0.684121 m/s, LOS rate: 0.085220 deg/s, posRepo size: 4
2021-08-14T17:04:02.634Z,1628960642.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.400002 m,
      bearing: 259.464051 deg,
      approachRate: -0.684121 m/s,
      LOS rate: 0.085220 deg/s,
      cmd update: 0.255660 deg/s,
      cmd heading: 260.149383 deg,
      new cmd heading: 260.443216 deg.

2021-08-14T17:04:04.991Z,1628960644.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:05.381Z,1628960645.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:05.381Z,1628960645.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:05.382Z,1628960645.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:05.383Z,1628960645.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:05.781Z,1628960645.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00717,186,80,80,8F,FF
2021-08-14T17:04:05.781Z,1628960645.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:05.781Z,1628960645.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:05.783Z,1628960645.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:06.189Z,1628960646.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:06.598Z,1628960646.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,006E4,187,80,80,A4,FF
2021-08-14T17:04:06.598Z,1628960646.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:07.038Z,1628960647.038 [Micromodem](INFO): Nmea in: $SNTTA,0.073256,,,,170407.62*44

2021-08-14T17:04:07.138Z,1628960647.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.340004 m, bearing: 259.207346 deg, deltaT: 4.417492 s, approachRate: -0.692700 m/s, LOS rate: -0.058111 deg/s, posRepo size: 4
2021-08-14T17:04:07.154Z,1628960647.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.340004 m,
      bearing: 259.207346 deg,
      approachRate: -0.692700 m/s,
      LOS rate: -0.058111 deg/s,
      cmd update: -0.174334 deg/s,
      cmd heading: 261.277713 deg,
      new cmd heading: 261.394277 deg.

2021-08-14T17:04:09.523Z,1628960649.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:09.832Z,1628960649.832 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:09.832Z,1628960649.832 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:09.832Z,1628960649.832 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:09.833Z,1628960649.833 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:10.237Z,1628960650.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,006E4,187,80,80,A4,FF
2021-08-14T17:04:10.237Z,1628960650.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:10.238Z,1628960650.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:10.239Z,1628960650.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:10.710Z,1628960650.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:11.075Z,1628960651.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,006B1,185,80,80,5F,FF
2021-08-14T17:04:11.077Z,1628960651.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:11.482Z,1628960651.482 [Micromodem](INFO): Nmea in: $SNTTA,0.061229,,,,170412.08*47

2021-08-14T17:04:11.561Z,1628960651.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 256.948493 deg, deltaT: 4.523989 s, approachRate: -0.676394 m/s, LOS rate: -0.499306 deg/s, posRepo size: 4
2021-08-14T17:04:11.563Z,1628960651.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 256.948493 deg,
      approachRate: -0.676394 m/s,
      LOS rate: -0.499306 deg/s,
      cmd update: -1.497917 deg/s,
      cmd heading: 260.489020 deg,
      new cmd heading: 260.420436 deg.

2021-08-14T17:04:13.928Z,1628960653.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:14.271Z,1628960654.271 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:14.271Z,1628960654.271 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:14.271Z,1628960654.271 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:14.272Z,1628960654.272 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:14.669Z,1628960654.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,006B1,185,80,80,5F,FF
2021-08-14T17:04:14.669Z,1628960654.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:14.669Z,1628960654.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:14.671Z,1628960654.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:15.150Z,1628960655.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:15.477Z,1628960655.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00681,186,80,80,97,FF
2021-08-14T17:04:15.477Z,1628960655.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:15.913Z,1628960655.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170416.52*5C

2021-08-14T17:04:15.963Z,1628960655.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 258.306362 deg, deltaT: 4.327536 s, approachRate: -0.665506 m/s, LOS rate: 0.313774 deg/s, posRepo size: 4
2021-08-14T17:04:15.966Z,1628960655.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.400005 m,
      bearing: 258.306362 deg,
      approachRate: -0.665506 m/s,
      LOS rate: 0.313774 deg/s,
      cmd update: 0.941322 deg/s,
      cmd heading: 254.000764 deg,
      new cmd heading: 253.300383 deg.

2021-08-14T17:04:18.327Z,1628960658.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:18.709Z,1628960658.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:18.709Z,1628960658.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:18.709Z,1628960658.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:18.710Z,1628960658.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:19.145Z,1628960659.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00681,186,80,80,97,FF
2021-08-14T17:04:19.145Z,1628960659.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:19.146Z,1628960659.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:19.156Z,1628960659.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:19.525Z,1628960659.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:19.917Z,1628960659.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00650,185,80,80,9E,FF
2021-08-14T17:04:19.918Z,1628960659.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:20.335Z,1628960660.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170421.00*5F

2021-08-14T17:04:20.380Z,1628960660.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.460003 m, bearing: 259.779770 deg, deltaT: 4.500655 s, approachRate: -0.653239 m/s, LOS rate: 0.327376 deg/s, posRepo size: 4
2021-08-14T17:04:20.382Z,1628960660.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.460003 m,
      bearing: 259.779770 deg,
      approachRate: -0.653239 m/s,
      LOS rate: 0.327376 deg/s,
      cmd update: 0.982129 deg/s,
      cmd heading: 258.237431 deg,
      new cmd heading: 258.598915 deg.

2021-08-14T17:04:22.763Z,1628960662.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:23.197Z,1628960663.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:23.197Z,1628960663.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:23.197Z,1628960663.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:23.198Z,1628960663.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:23.561Z,1628960663.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00650,185,80,80,9E,FF
2021-08-14T17:04:23.561Z,1628960663.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:23.561Z,1628960663.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:23.563Z,1628960663.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:23.969Z,1628960663.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:24.361Z,1628960664.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,0061F,186,80,80,7C,FF
2021-08-14T17:04:24.361Z,1628960664.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:24.805Z,1628960664.805 [Micromodem](INFO): Nmea in: $SNTTA,0.052897,,,,170425.41*41

2021-08-14T17:04:24.827Z,1628960664.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.520000 m, bearing: 257.658587 deg, deltaT: 4.436132 s, approachRate: -0.662740 m/s, LOS rate: -0.478161 deg/s, posRepo size: 4
2021-08-14T17:04:24.830Z,1628960664.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.520000 m,
      bearing: 257.658587 deg,
      approachRate: -0.662740 m/s,
      LOS rate: -0.478161 deg/s,
      cmd update: -1.434482 deg/s,
      cmd heading: 262.590323 deg,
      new cmd heading: 262.982810 deg.

2021-08-14T17:04:27.302Z,1628960667.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:27.609Z,1628960667.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:27.610Z,1628960667.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:27.610Z,1628960667.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:27.611Z,1628960667.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:28.001Z,1628960668.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,0061F,186,80,80,7C,FF
2021-08-14T17:04:28.001Z,1628960668.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:28.001Z,1628960668.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:28.003Z,1628960668.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:28.405Z,1628960668.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:28.809Z,1628960668.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,095,000,005F0,186,80,80,A5,FF
2021-08-14T17:04:28.810Z,1628960668.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:29.253Z,1628960669.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170429.85*5A

2021-08-14T17:04:29.316Z,1628960669.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 258.169075 deg, deltaT: 4.395363 s, approachRate: -0.641584 m/s, LOS rate: 0.116142 deg/s, posRepo size: 4
2021-08-14T17:04:29.318Z,1628960669.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.700005 m,
      bearing: 258.169075 deg,
      approachRate: -0.641584 m/s,
      LOS rate: 0.116142 deg/s,
      cmd update: 0.348427 deg/s,
      cmd heading: 256.279490 deg,
      new cmd heading: 255.577923 deg.

2021-08-14T17:04:31.701Z,1628960671.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:32.037Z,1628960672.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:32.037Z,1628960672.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:32.038Z,1628960672.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:32.039Z,1628960672.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:32.445Z,1628960672.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
095,000,005F0,186,80,80,A5,FF
2021-08-14T17:04:32.446Z,1628960672.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:32.446Z,1628960672.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:32.447Z,1628960672.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:32.870Z,1628960672.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:33.257Z,1628960673.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,005BB,186,80,80,7D,FF
2021-08-14T17:04:33.258Z,1628960673.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:33.709Z,1628960673.709 [Micromodem](INFO): Nmea in: $SNTTA,0.054750,,,,170434.29*4D

2021-08-14T17:04:33.745Z,1628960673.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 258.347862 deg, deltaT: 4.472408 s, approachRate: -0.711027 m/s, LOS rate: 0.039976 deg/s, posRepo size: 4
2021-08-14T17:04:33.747Z,1628960673.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.520000 m,
      bearing: 258.347862 deg,
      approachRate: -0.711027 m/s,
      LOS rate: 0.039976 deg/s,
      cmd update: 0.119927 deg/s,
      cmd heading: 257.837783 deg,
      new cmd heading: 257.992900 deg.

2021-08-14T17:04:36.105Z,1628960676.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:36.485Z,1628960676.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:36.486Z,1628960676.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:36.486Z,1628960676.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:36.487Z,1628960676.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:36.886Z,1628960676.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,005BB,186,80,80,7D,FF
2021-08-14T17:04:36.887Z,1628960676.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:36.887Z,1628960676.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:36.889Z,1628960676.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:37.301Z,1628960677.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:37.705Z,1628960677.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,0058A,186,80,80,B4,FF
2021-08-14T17:04:37.705Z,1628960677.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:38.185Z,1628960678.185 [Micromodem](INFO): Nmea in: $SNTTA,0.080466,,,,170438.73*41

2021-08-14T17:04:38.207Z,1628960678.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.579998 m, bearing: 259.121285 deg, deltaT: 4.423023 s, approachRate: -0.664704 m/s, LOS rate: 0.174863 deg/s, posRepo size: 4
2021-08-14T17:04:38.210Z,1628960678.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.579998 m,
      bearing: 259.121285 deg,
      approachRate: -0.664704 m/s,
      LOS rate: 0.174863 deg/s,
      cmd update: 0.524589 deg/s,
      cmd heading: 258.368212 deg,
      new cmd heading: 258.426381 deg.

2021-08-14T17:04:40.554Z,1628960680.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:40.929Z,1628960680.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:40.929Z,1628960680.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:40.929Z,1628960680.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:40.930Z,1628960680.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:41.337Z,1628960681.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,0058A,186,80,80,B4,FF
2021-08-14T17:04:41.337Z,1628960681.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:41.337Z,1628960681.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:41.339Z,1628960681.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:41.736Z,1628960681.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:42.141Z,1628960682.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00559,187,80,80,96,FF
2021-08-14T17:04:42.142Z,1628960682.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:42.578Z,1628960682.578 [Micromodem](INFO): Nmea in: $SNTTA,0.043986,,,,170443.18*4C

2021-08-14T17:04:42.621Z,1628960682.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 258.863650 deg, deltaT: 4.474282 s, approachRate: -0.657088 m/s, LOS rate: -0.057581 deg/s, posRepo size: 4
2021-08-14T17:04:42.623Z,1628960682.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.640003 m,
      bearing: 258.863650 deg,
      approachRate: -0.657088 m/s,
      LOS rate: -0.057581 deg/s,
      cmd update: -0.172744 deg/s,
      cmd heading: 260.700587 deg,
      new cmd heading: 260.937731 deg.

2021-08-14T17:04:45.022Z,1628960685.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:45.373Z,1628960685.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:45.373Z,1628960685.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:45.373Z,1628960685.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:45.374Z,1628960685.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:45.773Z,1628960685.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00559,187,80,80,96,FF
2021-08-14T17:04:45.773Z,1628960685.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:45.773Z,1628960685.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:45.775Z,1628960685.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:46.185Z,1628960686.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:46.586Z,1628960686.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00527,186,80,80,88,FF
2021-08-14T17:04:46.586Z,1628960686.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:47.030Z,1628960687.030 [Micromodem](INFO): Nmea in: $SNTTA,0.069216,,,,170447.62*4F

2021-08-14T17:04:47.051Z,1628960687.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.640003 m, bearing: 257.312351 deg, deltaT: 4.438215 s, approachRate: -0.675947 m/s, LOS rate: -0.349532 deg/s, posRepo size: 4
2021-08-14T17:04:47.054Z,1628960687.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.640003 m,
      bearing: 257.312351 deg,
      approachRate: -0.675947 m/s,
      LOS rate: -0.349532 deg/s,
      cmd update: -1.048597 deg/s,
      cmd heading: 259.929716 deg,
      new cmd heading: 259.857086 deg.

2021-08-14T17:04:49.485Z,1628960689.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:49.809Z,1628960689.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:49.809Z,1628960689.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:49.809Z,1628960689.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:49.810Z,1628960689.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:50.217Z,1628960690.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00527,186,80,80,88,FF
2021-08-14T17:04:50.217Z,1628960690.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:50.217Z,1628960690.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:50.219Z,1628960690.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:50.635Z,1628960690.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:51.025Z,1628960691.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,004EF,186,80,80,99,FF
2021-08-14T17:04:51.025Z,1628960691.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:51.471Z,1628960691.471 [Micromodem](INFO): Nmea in: $SNTTA,0.053288,,,,170452.06*47

2021-08-14T17:04:51.506Z,1628960691.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 258.041596 deg, deltaT: 4.436248 s, approachRate: -0.757398 m/s, LOS rate: 0.164383 deg/s, posRepo size: 4
2021-08-14T17:04:51.507Z,1628960691.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.28 m.
2021-08-14T17:04:51.507Z,1628960691.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.28 m.
2021-08-14T17:04:51.507Z,1628960691.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T17:04:51.510Z,1628960691.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.279999 m,
      bearing: 258.041596 deg,
      approachRate: -0.757398 m/s,
      LOS rate: 0.164383 deg/s,
      cmd update: 0.493150 deg/s,
      cmd heading: 255.277936 deg,
      new cmd heading: 254.817611 deg.

2021-08-14T17:04:51.875Z,1628960691.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T17:04:51.876Z,1628960691.876 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:04:51.876Z,1628960691.876 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T17:04:51.877Z,1628960691.877 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T17:04:51.877Z,1628960691.877 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T17:04:51.877Z,1628960691.877 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T17:04:52.285Z,1628960692.285 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T17:04:52.285Z,1628960692.285 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:04:52.286Z,1628960692.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T17:04:52.286Z,1628960692.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:04:53.917Z,1628960693.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:54.261Z,1628960694.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:54.261Z,1628960694.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:54.261Z,1628960694.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:54.262Z,1628960694.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:54.677Z,1628960694.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,004EF,186,80,80,99,FF
2021-08-14T17:04:54.677Z,1628960694.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:54.677Z,1628960694.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:54.679Z,1628960694.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:55.073Z,1628960695.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:55.469Z,1628960695.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,004BD,183,80,80,9D,FF
2021-08-14T17:04:55.469Z,1628960695.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:55.545Z,1628960695.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:04:55.902Z,1628960695.902 [Micromodem](INFO): Nmea in: $SNTTA,0.051921,,,,170456.52*48

2021-08-14T17:04:55.918Z,1628960695.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 260.475712 deg, deltaT: 4.471169 s, approachRate: -0.670965 m/s, LOS rate: 0.544402 deg/s, posRepo size: 4
2021-08-14T17:04:55.920Z,1628960695.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.279999 m,
      bearing: 260.475712 deg,
      approachRate: -0.670965 m/s,
      LOS rate: 0.544402 deg/s,
      cmd update: 1.633207 deg/s,
      cmd heading: 257.482793 deg,
      new cmd heading: 257.670193 deg.

2021-08-14T17:04:58.338Z,1628960698.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:04:58.701Z,1628960698.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:04:58.701Z,1628960698.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:04:58.701Z,1628960698.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:04:58.702Z,1628960698.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:04:59.113Z,1628960699.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,004BD,183,80,80,9D,FF
2021-08-14T17:04:59.113Z,1628960699.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:04:59.114Z,1628960699.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:04:59.120Z,1628960699.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:04:59.521Z,1628960699.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:04:59.922Z,1628960699.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,0048D,183,80,80,83,FF
2021-08-14T17:04:59.922Z,1628960699.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:04:59.942Z,1628960699.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:00.361Z,1628960700.361 [Micromodem](INFO): Nmea in: $SNTTA,0.034326,,,,170500.96*4C

2021-08-14T17:05:00.384Z,1628960700.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 260.215181 deg, deltaT: 4.396813 s, approachRate: -0.655020 m/s, LOS rate: -0.059254 deg/s, posRepo size: 4
2021-08-14T17:05:00.390Z,1628960700.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.399998 m,
      bearing: 260.215181 deg,
      approachRate: -0.655020 m/s,
      LOS rate: -0.059254 deg/s,
      cmd update: -0.177763 deg/s,
      cmd heading: 264.670158 deg,
      new cmd heading: 265.396240 deg.

2021-08-14T17:05:02.789Z,1628960702.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:03.193Z,1628960703.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:03.193Z,1628960703.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:03.193Z,1628960703.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:03.194Z,1628960703.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:03.555Z,1628960703.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,0048D,183,80,80,83,FF
2021-08-14T17:05:03.555Z,1628960703.555 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:03.555Z,1628960703.555 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:03.557Z,1628960703.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:03.961Z,1628960703.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:04.354Z,1628960704.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,0045B,186,80,80,AF,FF
2021-08-14T17:05:04.354Z,1628960704.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:04.402Z,1628960704.402 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:04.822Z,1628960704.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170505.40*5C

2021-08-14T17:05:04.867Z,1628960704.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 257.830516 deg, deltaT: 4.460071 s, approachRate: -0.672635 m/s, LOS rate: -0.534670 deg/s, posRepo size: 4
2021-08-14T17:05:04.869Z,1628960704.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.399998 m,
      bearing: 257.830516 deg,
      approachRate: -0.672635 m/s,
      LOS rate: -0.534670 deg/s,
      cmd update: -1.604009 deg/s,
      cmd heading: 263.877318 deg,
      new cmd heading: 263.794186 deg.

2021-08-14T17:05:07.282Z,1628960707.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:07.593Z,1628960707.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:07.594Z,1628960707.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:07.594Z,1628960707.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:07.595Z,1628960707.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:08.009Z,1628960708.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,0045B,186,80,80,AF,FF
2021-08-14T17:05:08.009Z,1628960708.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:08.009Z,1628960708.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:08.011Z,1628960708.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:08.401Z,1628960708.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:08.806Z,1628960708.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00429,186,80,80,A8,FF
2021-08-14T17:05:08.806Z,1628960708.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:08.830Z,1628960708.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:09.233Z,1628960709.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170509.86*5A

2021-08-14T17:05:09.313Z,1628960709.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 259.305782 deg, deltaT: 4.428269 s, approachRate: -0.677466 m/s, LOS rate: 0.333147 deg/s, posRepo size: 4
2021-08-14T17:05:09.328Z,1628960709.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.399998 m,
      bearing: 259.305782 deg,
      approachRate: -0.677466 m/s,
      LOS rate: 0.333147 deg/s,
      cmd update: 0.999442 deg/s,
      cmd heading: 256.774339 deg,
      new cmd heading: 256.014993 deg.

2021-08-14T17:05:11.691Z,1628960711.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:12.043Z,1628960712.043 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:12.044Z,1628960712.044 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:12.044Z,1628960712.044 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:12.045Z,1628960712.045 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:12.439Z,1628960712.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00429,186,80,80,A8,FF
2021-08-14T17:05:12.441Z,1628960712.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:12.441Z,1628960712.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:12.464Z,1628960712.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:12.853Z,1628960712.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:13.245Z,1628960713.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,003F6,184,80,80,5D,FF
2021-08-14T17:05:13.246Z,1628960713.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:13.257Z,1628960713.257 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T17:05:13.306Z,1628960713.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:13.705Z,1628960713.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170514.31*5A

2021-08-14T17:05:13.731Z,1628960713.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 258.916216 deg, deltaT: 4.475878 s, approachRate: -0.683665 m/s, LOS rate: -0.087037 deg/s, posRepo size: 4
2021-08-14T17:05:13.761Z,1628960713.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.339998 m,
      bearing: 258.916216 deg,
      approachRate: -0.683665 m/s,
      LOS rate: -0.087037 deg/s,
      cmd update: -0.261111 deg/s,
      cmd heading: 261.243696 deg,
      new cmd heading: 261.675372 deg.

2021-08-14T17:05:16.138Z,1628960716.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:16.485Z,1628960716.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:16.485Z,1628960716.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:16.485Z,1628960716.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:16.486Z,1628960716.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:16.913Z,1628960716.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,003F6,184,80,80,5D,FF
2021-08-14T17:05:16.913Z,1628960716.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:16.914Z,1628960716.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:16.925Z,1628960716.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:17.304Z,1628960717.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:17.701Z,1628960717.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,003C1,187,80,80,A9,FF
2021-08-14T17:05:17.702Z,1628960717.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:17.756Z,1628960717.756 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:18.149Z,1628960718.149 [Micromodem](INFO): Nmea in: $SNTTA,0.050747,,,,170518.77*4B

2021-08-14T17:05:18.157Z,1628960718.157 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:05:18.182Z,1628960718.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 258.972059 deg, deltaT: 4.449679 s, approachRate: -0.714658 m/s, LOS rate: 0.012550 deg/s, posRepo size: 4
2021-08-14T17:05:18.189Z,1628960718.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 258.972059 deg,
      approachRate: -0.714658 m/s,
      LOS rate: 0.012550 deg/s,
      cmd update: 0.037650 deg/s,
      cmd heading: 260.082931 deg,
      new cmd heading: 259.968677 deg.

2021-08-14T17:05:20.597Z,1628960720.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:20.922Z,1628960720.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:20.922Z,1628960720.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:20.922Z,1628960720.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:20.923Z,1628960720.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:21.325Z,1628960721.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,003C1,187,80,80,A9,FF
2021-08-14T17:05:21.325Z,1628960721.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:21.325Z,1628960721.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:21.327Z,1628960721.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:21.743Z,1628960721.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:22.141Z,1628960722.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0039E,186,80,80,91,FF
2021-08-14T17:05:22.142Z,1628960722.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:22.162Z,1628960722.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:22.582Z,1628960722.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170523.17*5A

2021-08-14T17:05:22.661Z,1628960722.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 259.819440 deg, deltaT: 4.405956 s, approachRate: -0.476628 m/s, LOS rate: 0.192326 deg/s, posRepo size: 4
2021-08-14T17:05:22.663Z,1628960722.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 259.819440 deg,
      approachRate: -0.476628 m/s,
      LOS rate: 0.192326 deg/s,
      cmd update: 0.576978 deg/s,
      cmd heading: 260.249122 deg,
      new cmd heading: 260.267860 deg.

2021-08-14T17:05:23.377Z,1628960723.377 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:05:25.033Z,1628960725.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:25.365Z,1628960725.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:25.365Z,1628960725.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:25.366Z,1628960725.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:25.366Z,1628960725.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:25.773Z,1628960725.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0039E,186,80,80,91,FF
2021-08-14T17:05:25.774Z,1628960725.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:25.774Z,1628960725.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:25.775Z,1628960725.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:26.177Z,1628960726.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:26.582Z,1628960726.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00360,187,80,80,9A,FF
2021-08-14T17:05:26.583Z,1628960726.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:26.660Z,1628960726.660 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:27.034Z,1628960727.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170527.62*5C

2021-08-14T17:05:27.060Z,1628960727.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.339997 m, bearing: 259.436731 deg, deltaT: 4.498237 s, approachRate: -0.826991 m/s, LOS rate: -0.085080 deg/s, posRepo size: 4
2021-08-14T17:05:27.062Z,1628960727.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.339997 m,
      bearing: 259.436731 deg,
      approachRate: -0.826991 m/s,
      LOS rate: -0.085080 deg/s,
      cmd update: -0.255239 deg/s,
      cmd heading: 262.838142 deg,
      new cmd heading: 263.077013 deg.

2021-08-14T17:05:29.481Z,1628960729.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:29.813Z,1628960729.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:29.813Z,1628960729.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:29.814Z,1628960729.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:29.815Z,1628960729.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:30.232Z,1628960730.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00360,187,80,80,9A,FF
2021-08-14T17:05:30.233Z,1628960730.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:30.233Z,1628960730.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:30.235Z,1628960730.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:30.628Z,1628960730.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:31.034Z,1628960731.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,0032F,185,80,80,B2,FF
2021-08-14T17:05:31.035Z,1628960731.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:31.055Z,1628960731.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:31.473Z,1628960731.473 [Micromodem](INFO): Nmea in: $SNTTA,0.023697,,,,170532.08*43

2021-08-14T17:05:31.593Z,1628960731.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 256.009232 deg, deltaT: 4.394531 s, approachRate: -0.669013 m/s, LOS rate: -0.779946 deg/s, posRepo size: 4
2021-08-14T17:05:31.601Z,1628960731.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 256.009232 deg,
      approachRate: -0.669013 m/s,
      LOS rate: -0.779946 deg/s,
      cmd update: -2.339839 deg/s,
      cmd heading: 261.713640 deg,
      new cmd heading: 261.576716 deg.

2021-08-14T17:05:33.471Z,1628960733.471 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:05:33.879Z,1628960733.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:34.257Z,1628960734.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:34.257Z,1628960734.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:34.258Z,1628960734.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:34.259Z,1628960734.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:34.673Z,1628960734.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,0032F,185,80,80,B2,FF
2021-08-14T17:05:34.673Z,1628960734.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:34.673Z,1628960734.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:34.675Z,1628960734.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:35.069Z,1628960735.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:35.465Z,1628960735.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00301,187,80,80,AA,FF
2021-08-14T17:05:35.465Z,1628960735.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:35.573Z,1628960735.573 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:35.925Z,1628960735.925 [Micromodem](INFO): Nmea in: $SNTTA,0.067357,,,,170536.52*41

2021-08-14T17:05:35.974Z,1628960735.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 258.132110 deg, deltaT: 4.518383 s, approachRate: -0.610838 m/s, LOS rate: 0.469831 deg/s, posRepo size: 4
2021-08-14T17:05:35.976Z,1628960735.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 258.132110 deg,
      approachRate: -0.610838 m/s,
      LOS rate: 0.469831 deg/s,
      cmd update: 1.409494 deg/s,
      cmd heading: 251.167942 deg,
      new cmd heading: 250.195940 deg.

2021-08-14T17:05:38.330Z,1628960738.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:38.697Z,1628960738.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:38.697Z,1628960738.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:38.697Z,1628960738.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:38.698Z,1628960738.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:39.108Z,1628960739.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00301,187,80,80,AA,FF
2021-08-14T17:05:39.109Z,1628960739.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:39.109Z,1628960739.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:39.115Z,1628960739.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:39.518Z,1628960739.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:39.917Z,1628960739.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAB,000,002DD,185,80,80,97,FF
2021-08-14T17:05:39.917Z,1628960739.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:39.970Z,1628960739.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:40.377Z,1628960740.377 [Micromodem](INFO): Nmea in: $SNTTA,0.036578,,,,170540.96*47

2021-08-14T17:05:40.426Z,1628960740.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 259.088391 deg, deltaT: 4.396760 s, approachRate: -0.491271 m/s, LOS rate: 0.217497 deg/s, posRepo size: 4
2021-08-14T17:05:40.431Z,1628960740.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 259.088391 deg,
      approachRate: -0.491271 m/s,
      LOS rate: 0.217497 deg/s,
      cmd update: 0.652490 deg/s,
      cmd heading: 257.375454 deg,
      new cmd heading: 258.021172 deg.

2021-08-14T17:05:42.762Z,1628960742.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:43.206Z,1628960743.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:43.206Z,1628960743.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:43.207Z,1628960743.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:43.207Z,1628960743.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:43.545Z,1628960743.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAB,000,002DD,185,80,80,97,FF
2021-08-14T17:05:43.545Z,1628960743.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:43.545Z,1628960743.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:43.547Z,1628960743.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:43.964Z,1628960743.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:44.355Z,1628960744.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD5,000,002C6,189,80,80,54,FF
2021-08-14T17:05:44.355Z,1628960744.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:44.406Z,1628960744.406 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:44.789Z,1628960744.789 [Micromodem](INFO): Nmea in: $SNTTA,0.007612,,,,170545.39*4A

2021-08-14T17:05:44.825Z,1628960744.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 313.202778 deg, deltaT: 4.435854 s, approachRate: -0.311101 m/s, LOS rate: 12.199316 deg/s, posRepo size: 4
2021-08-14T17:05:44.826Z,1628960744.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.199316 deg/s. Setting heading cmd to target bearing of 313.202778deg and heading rate command to 0 deg/s.
2021-08-14T17:05:47.299Z,1628960747.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:47.586Z,1628960747.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:47.586Z,1628960747.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:47.586Z,1628960747.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:47.587Z,1628960747.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:47.993Z,1628960747.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD5,000,002C6,189,80,80,54,FF
2021-08-14T17:05:47.993Z,1628960747.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:47.993Z,1628960747.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:48.000Z,1628960748.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:48.417Z,1628960748.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:48.801Z,1628960748.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,002C2,184,80,80,C8,FF
2021-08-14T17:05:48.801Z,1628960748.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:48.850Z,1628960748.850 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:49.249Z,1628960749.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170549.85*5D

2021-08-14T17:05:49.310Z,1628960749.310 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T17:05:49.310Z,1628960749.310 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:05:49.310Z,1628960749.310 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T17:05:49.310Z,1628960749.310 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:05:49.310Z,1628960749.310 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T17:05:49.311Z,1628960749.311 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2021-08-14T17:05:49.311Z,1628960749.311 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T17:05:49.311Z,1628960749.311 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T17:05:49.311Z,1628960749.311 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T17:05:49.318Z,1628960749.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 274.231139 deg, deltaT: 4.444352 s, approachRate: -0.054001 m/s, LOS rate: -8.768801 deg/s, posRepo size: 4
2021-08-14T17:05:49.324Z,1628960749.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 274.231139 deg,
      approachRate: -0.054001 m/s,
      LOS rate: -8.768801 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 313.202778 deg,
      new cmd heading: 313.202778 deg.

2021-08-14T17:05:49.653Z,1628960749.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T170549: (41.552319, -70.708603)
2021-08-14T17:05:49.653Z,1628960749.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T17:05:49.653Z,1628960749.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T17:05:49.653Z,1628960749.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:05:49.654Z,1628960749.654 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T17:05:49.654Z,1628960749.654 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:05:49.654Z,1628960749.654 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T17:05:49.654Z,1628960749.654 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T17:05:49.654Z,1628960749.654 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:05:51.715Z,1628960751.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:52.033Z,1628960752.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:52.033Z,1628960752.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:52.033Z,1628960752.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:52.034Z,1628960752.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:52.437Z,1628960752.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,002C2,184,80,80,C8,FF
2021-08-14T17:05:52.437Z,1628960752.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:52.437Z,1628960752.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:52.439Z,1628960752.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:52.841Z,1628960752.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:53.245Z,1628960753.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,002C3,187,80,80,AE,FF
2021-08-14T17:05:53.246Z,1628960753.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:53.258Z,1628960753.258 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T17:05:53.332Z,1628960753.332 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:53.693Z,1628960753.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170554.29*57

2021-08-14T17:05:53.715Z,1628960753.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 332.830856 deg, deltaT: 4.482201 s, approachRate: 0.013386 m/s, LOS rate: 13.073871 deg/s, posRepo size: 4
2021-08-14T17:05:53.716Z,1628960753.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.073871 deg/s. Setting heading cmd to target bearing of 332.830856deg and heading rate command to 0 deg/s.
2021-08-14T17:05:56.107Z,1628960756.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:05:56.477Z,1628960756.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:05:56.477Z,1628960756.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:05:56.477Z,1628960756.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:05:56.478Z,1628960756.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:05:56.877Z,1628960756.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,002C3,187,80,80,AE,FF
2021-08-14T17:05:56.877Z,1628960756.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:05:56.877Z,1628960756.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:05:56.879Z,1628960756.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:05:57.284Z,1628960757.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:05:57.685Z,1628960757.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,002C5,186,80,80,5D,FF
2021-08-14T17:05:57.686Z,1628960757.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:05:57.716Z,1628960757.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:05:58.129Z,1628960758.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170558.73*54

2021-08-14T17:05:58.164Z,1628960758.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 342.882709 deg, deltaT: 4.383935 s, approachRate: 0.027373 m/s, LOS rate: 2.292884 deg/s, posRepo size: 4
2021-08-14T17:05:58.166Z,1628960758.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 342.882709 deg,
      approachRate: 0.027373 m/s,
      LOS rate: 2.292884 deg/s,
      cmd update: 6.878651 deg/s,
      cmd heading: 332.830856 deg,
      new cmd heading: 332.830856 deg.

2021-08-14T17:06:00.535Z,1628960760.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:00.925Z,1628960760.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:00.925Z,1628960760.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:00.925Z,1628960760.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:00.926Z,1628960760.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:01.329Z,1628960761.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,002C5,186,80,80,5D,FF
2021-08-14T17:06:01.329Z,1628960761.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:01.330Z,1628960761.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:01.331Z,1628960761.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:01.729Z,1628960761.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:02.123Z,1628960762.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A6,000,002C4,186,80,80,64,FF
2021-08-14T17:06:02.123Z,1628960762.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:02.153Z,1628960762.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:06:02.573Z,1628960762.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170603.18*54

2021-08-14T17:06:02.619Z,1628960762.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.979999 m, bearing: 341.068884 deg, deltaT: 4.437076 s, approachRate: -0.013523 m/s, LOS rate: -0.408788 deg/s, posRepo size: 4
2021-08-14T17:06:02.620Z,1628960762.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.98 m.
2021-08-14T17:06:02.622Z,1628960762.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 341.068884 deg,
      approachRate: -0.013523 m/s,
      LOS rate: -0.408788 deg/s,
      cmd update: -1.226365 deg/s,
      cmd heading: 3.354458 deg,
      new cmd heading: 6.581831 deg.

2021-08-14T17:06:04.979Z,1628960764.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:05.369Z,1628960765.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:05.369Z,1628960765.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:05.369Z,1628960765.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:05.370Z,1628960765.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:05.789Z,1628960765.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A6,000,002C4,186,80,80,64,FF
2021-08-14T17:06:05.789Z,1628960765.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:05.789Z,1628960765.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:05.791Z,1628960765.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:06.181Z,1628960766.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:06.573Z,1628960766.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,002C5,189,80,80,73,FF
2021-08-14T17:06:06.573Z,1628960766.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:06.652Z,1628960766.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:06:07.001Z,1628960767.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170607.64*5B

2021-08-14T17:06:07.033Z,1628960767.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 38.135422 deg, deltaT: 4.498848 s, approachRate: 0.013337 m/s, LOS rate: 12.684703 deg/s, posRepo size: 4
2021-08-14T17:06:07.034Z,1628960767.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 5.04 m. Cable present.
2021-08-14T17:06:07.034Z,1628960767.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T17:06:07.034Z,1628960767.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T17:06:07.034Z,1628960767.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-14T17:06:07.406Z,1628960767.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-14T17:06:07.406Z,1628960767.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-14T17:06:07.406Z,1628960767.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-14T17:06:07.821Z,1628960767.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-14T17:06:07.822Z,1628960767.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:06:07.822Z,1628960767.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T17:06:07.822Z,1628960767.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:06:07.822Z,1628960767.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T17:06:07.822Z,1628960767.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T17:06:07.822Z,1628960767.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T17:06:07.822Z,1628960767.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:06:08.197Z,1628960768.197 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T17:06:08.197Z,1628960768.197 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T17:06:08.197Z,1628960768.197 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T17:06:08.197Z,1628960768.197 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T17:06:08.197Z,1628960768.197 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T17:06:08.198Z,1628960768.198 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-14T17:06:08.198Z,1628960768.198 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T17:06:08.198Z,1628960768.198 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-14T17:06:08.198Z,1628960768.198 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T17:06:08.199Z,1628960768.199 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T17:06:08.199Z,1628960768.199 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T17:06:08.199Z,1628960768.199 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T17:06:08.199Z,1628960768.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T17:06:08.199Z,1628960768.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:06:08.199Z,1628960768.199 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-14T17:06:08.199Z,1628960768.199 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:06:08.633Z,1628960768.633 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-14T17:06:08.633Z,1628960768.633 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T17:06:09.407Z,1628960769.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:09.777Z,1628960769.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:09.777Z,1628960769.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:09.777Z,1628960769.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:09.778Z,1628960769.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:10.181Z,1628960770.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,002C5,189,80,80,73,FF
2021-08-14T17:06:10.181Z,1628960770.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:10.181Z,1628960770.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:10.183Z,1628960770.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:10.590Z,1628960770.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:11.011Z,1628960771.011 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,113,000,002C5,185,80,80,81,FF
2021-08-14T17:06:11.011Z,1628960771.011 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:11.420Z,1628960771.420 [Micromodem](INFO): Nmea in: $SNTTA,0.065362,,,,170612.03*44

2021-08-14T17:06:11.849Z,1628960771.849 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-14T17:06:11.849Z,1628960771.849 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-14T17:06:11.849Z,1628960771.849 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:06:11.849Z,1628960771.849 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-14T17:06:12.240Z,1628960772.240 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-14T17:06:12.240Z,1628960772.240 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T17:06:12.243Z,1628960772.243 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T17:06:12.244Z,1628960772.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T17:06:12.649Z,1628960772.649 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-14T17:06:12.649Z,1628960772.649 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T17:06:12.649Z,1628960772.649 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T17:06:12.649Z,1628960772.649 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-14T17:06:13.086Z,1628960773.086 [lineCaptureDepth:Lap:C] Stopped
2021-08-14T17:06:13.086Z,1628960773.086 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-14T17:06:13.467Z,1628960773.467 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-14T17:06:13.467Z,1628960773.467 [lineCaptureDepth:Lap:D] Stopped
2021-08-14T17:06:13.467Z,1628960773.467 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-14T17:06:13.468Z,1628960773.468 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-14T17:06:13.468Z,1628960773.468 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-14T17:06:13.831Z,1628960773.831 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-14T17:06:13.831Z,1628960773.831 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-14T17:06:13.831Z,1628960773.831 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-14T17:06:13.831Z,1628960773.831 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-14T17:06:13.831Z,1628960773.831 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T17:06:13.832Z,1628960773.832 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-14T17:06:13.832Z,1628960773.832 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-14T17:06:13.833Z,1628960773.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:14.223Z,1628960774.223 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:14.223Z,1628960774.223 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:14.223Z,1628960774.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:14.225Z,1628960774.225 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:14.623Z,1628960774.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
113,000,002C5,185,80,80,81,FF
2021-08-14T17:06:14.624Z,1628960774.624 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:14.624Z,1628960774.624 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:14.626Z,1628960774.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:15.150Z,1628960775.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:15.461Z,1628960775.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,002C8,183,80,80,57,FF
2021-08-14T17:06:15.461Z,1628960775.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:15.889Z,1628960775.889 [Micromodem](INFO): Nmea in: $SNTTA,0.007502,,,,170616.47*44

2021-08-14T17:06:18.316Z,1628960778.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:18.705Z,1628960778.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:18.705Z,1628960778.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:18.705Z,1628960778.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:18.706Z,1628960778.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:19.113Z,1628960779.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,002C8,183,80,80,57,FF
2021-08-14T17:06:19.113Z,1628960779.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:19.114Z,1628960779.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:19.120Z,1628960779.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:19.509Z,1628960779.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:19.909Z,1628960779.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,002C6,182,80,80,6A,FF
2021-08-14T17:06:19.909Z,1628960779.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:20.345Z,1628960780.345 [Micromodem](INFO): Nmea in: $SNTTA,0.028029,,,,170620.97*4D

2021-08-14T17:06:21.971Z,1628960781.971 [PowerOnly](INFO): Powering down loadControl
2021-08-14T17:06:22.781Z,1628960782.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:23.205Z,1628960783.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:23.205Z,1628960783.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:23.205Z,1628960783.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:23.206Z,1628960783.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:23.557Z,1628960783.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,002C6,182,80,80,6A,FF
2021-08-14T17:06:23.557Z,1628960783.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:23.557Z,1628960783.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:23.559Z,1628960783.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:23.948Z,1628960783.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:24.357Z,1628960784.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,002C4,186,80,80,91,FF
2021-08-14T17:06:24.357Z,1628960784.357 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:24.789Z,1628960784.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170625.40*5D

2021-08-14T17:06:27.221Z,1628960787.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:27.681Z,1628960787.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:27.681Z,1628960787.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:27.681Z,1628960787.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:27.682Z,1628960787.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:27.989Z,1628960787.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,002C4,186,80,80,91,FF
2021-08-14T17:06:27.989Z,1628960787.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:27.989Z,1628960787.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:27.991Z,1628960787.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:28.411Z,1628960788.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:28.797Z,1628960788.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,002C8,18A,80,80,8C,FF
2021-08-14T17:06:28.797Z,1628960788.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:29.245Z,1628960789.245 [Micromodem](INFO): Nmea in: $SNTTA,0.026914,,,,170629.84*4F

2021-08-14T17:06:31.646Z,1628960791.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:32.046Z,1628960792.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:32.046Z,1628960792.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:32.047Z,1628960792.047 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:32.047Z,1628960792.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:32.430Z,1628960792.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,002C8,18A,80,80,8C,FF
2021-08-14T17:06:32.430Z,1628960792.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:32.430Z,1628960792.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:32.433Z,1628960792.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:32.845Z,1628960792.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:33.270Z,1628960793.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,002CA,186,80,80,71,FF
2021-08-14T17:06:33.271Z,1628960793.271 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:33.276Z,1628960793.276 [Micromodem](INFO): Nmea in: $SNTTA,0.286352,0.286315,,,170634.28*50

2021-08-14T17:06:35.302Z,1628960795.302 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T17:06:36.086Z,1628960796.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:36.471Z,1628960796.471 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:36.471Z,1628960796.471 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:36.471Z,1628960796.471 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:36.473Z,1628960796.473 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:36.845Z,1628960796.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,002CA,186,80,80,71,FF
2021-08-14T17:06:36.846Z,1628960796.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:36.846Z,1628960796.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:36.848Z,1628960796.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:37.257Z,1628960797.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:37.757Z,1628960797.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,002C8,185,80,80,6F,FF
2021-08-14T17:06:37.758Z,1628960797.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:38.118Z,1628960798.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170638.69*5A

2021-08-14T17:06:40.523Z,1628960800.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:40.917Z,1628960800.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:40.918Z,1628960800.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:40.918Z,1628960800.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:40.919Z,1628960800.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:41.325Z,1628960801.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,002C8,185,80,80,6F,FF
2021-08-14T17:06:41.325Z,1628960801.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:41.325Z,1628960801.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:41.327Z,1628960801.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:41.745Z,1628960801.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:42.137Z,1628960802.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,002C8,187,80,80,78,FF
2021-08-14T17:06:42.137Z,1628960802.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:42.582Z,1628960802.582 [Micromodem](INFO): Nmea in: $SNTTA,0.030344,,,,170643.17*41

2021-08-14T17:06:44.983Z,1628960804.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:45.369Z,1628960805.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:45.369Z,1628960805.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:45.369Z,1628960805.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:45.370Z,1628960805.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:45.781Z,1628960805.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,002C8,187,80,80,78,FF
2021-08-14T17:06:45.781Z,1628960805.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:45.781Z,1628960805.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:45.783Z,1628960805.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:46.169Z,1628960806.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:46.586Z,1628960806.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,002C7,186,80,80,79,FF
2021-08-14T17:06:46.587Z,1628960806.587 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:46.997Z,1628960806.997 [Micromodem](INFO): Nmea in: $SNTTA,0.037052,,,,170647.63*45

2021-08-14T17:06:49.461Z,1628960809.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:49.817Z,1628960809.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:49.817Z,1628960809.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:49.817Z,1628960809.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:49.818Z,1628960809.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:50.222Z,1628960810.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,002C7,186,80,80,79,FF
2021-08-14T17:06:50.222Z,1628960810.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:50.222Z,1628960810.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:50.224Z,1628960810.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:50.641Z,1628960810.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:51.049Z,1628960811.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,002C4,186,80,80,99,FF
2021-08-14T17:06:51.051Z,1628960811.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:51.473Z,1628960811.473 [Micromodem](INFO): Nmea in: $SNTTA,0.039596,,,,170652.07*40

2021-08-14T17:06:53.489Z,1628960813.489 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T17:06:53.871Z,1628960813.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:54.268Z,1628960814.268 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:54.268Z,1628960814.268 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:54.269Z,1628960814.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:54.269Z,1628960814.269 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:54.669Z,1628960814.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,002C4,186,80,80,99,FF
2021-08-14T17:06:54.669Z,1628960814.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:54.669Z,1628960814.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:54.671Z,1628960814.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:55.119Z,1628960815.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:55.489Z,1628960815.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,002C9,186,80,80,75,FF
2021-08-14T17:06:55.490Z,1628960815.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:55.493Z,1628960815.493 [Micromodem](INFO): Nmea in: $SNTTA,0.164705,0.165074,,,170656.52*5A

2021-08-14T17:06:58.032Z,1628960818.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:06:58.305Z,1628960818.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:06:58.305Z,1628960818.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:06:58.305Z,1628960818.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:06:58.306Z,1628960818.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:06:58.721Z,1628960818.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,002C9,186,80,80,75,FF
2021-08-14T17:06:58.721Z,1628960818.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:06:58.721Z,1628960818.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:06:58.723Z,1628960818.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:06:59.161Z,1628960819.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:06:59.518Z,1628960819.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,002C6,187,80,80,67,FF
2021-08-14T17:06:59.518Z,1628960819.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:06:59.962Z,1628960819.962 [Micromodem](INFO): Nmea in: $SNTTA,0.046463,,,,170700.57*40

2021-08-14T17:07:02.380Z,1628960822.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:02.753Z,1628960822.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:02.753Z,1628960822.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:02.753Z,1628960822.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:02.754Z,1628960822.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:03.196Z,1628960823.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,002C6,187,80,80,67,FF
2021-08-14T17:07:03.196Z,1628960823.196 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:03.196Z,1628960823.196 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:03.198Z,1628960823.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:03.573Z,1628960823.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:03.961Z,1628960823.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,002C5,189,80,80,60,FF
2021-08-14T17:07:03.962Z,1628960823.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:04.395Z,1628960824.395 [Micromodem](INFO): Nmea in: $SNTTA,0.006949,,,,170705.04*42

2021-08-14T17:07:06.813Z,1628960826.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:07.172Z,1628960827.172 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:07.172Z,1628960827.172 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:07.173Z,1628960827.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:07.174Z,1628960827.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:07.569Z,1628960827.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,002C5,189,80,80,60,FF
2021-08-14T17:07:07.569Z,1628960827.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:07.569Z,1628960827.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:07.571Z,1628960827.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:08.089Z,1628960828.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:08.409Z,1628960828.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EAC5,189,80,80,6C,FF
0,60,FF
2021-08-14T17:07:08.409Z,1628960828.409 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2EAC5,189,80,80,6C,FF
0,60,FF
2021-08-14T17:07:08.822Z,1628960828.822 [Micromodem](INFO): Nmea in: $SNTTA,0.039934,,,,170709.42*4A

2021-08-14T17:07:09.647Z,1628960829.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:12.462Z,1628960832.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:13.272Z,1628960833.272 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.098607
2021-08-14T17:07:15.338Z,1628960835.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:15.681Z,1628960835.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:15.681Z,1628960835.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:15.681Z,1628960835.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:15.682Z,1628960835.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:16.098Z,1628960836.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EAC5,189,80,80,6C,FF
0,60,FF
2021-08-14T17:07:16.098Z,1628960836.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:16.098Z,1628960836.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:16.100Z,1628960836.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:16.461Z,1628960836.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:16.893Z,1628960836.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,002C4,187,80,80,A0,FF
2021-08-14T17:07:16.893Z,1628960836.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:17.313Z,1628960837.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170717.94*54

2021-08-14T17:07:19.745Z,1628960839.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:20.125Z,1628960840.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:20.125Z,1628960840.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:20.125Z,1628960840.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:20.126Z,1628960840.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:20.537Z,1628960840.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,002C4,187,80,80,A0,FF
2021-08-14T17:07:20.537Z,1628960840.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:20.537Z,1628960840.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:20.539Z,1628960840.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:20.937Z,1628960840.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:21.345Z,1628960841.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,002C8,186,80,80,9E,FF
2021-08-14T17:07:21.346Z,1628960841.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:21.778Z,1628960841.778 [Micromodem](INFO): Nmea in: $SNTTA,0.007019,,,,170722.38*45

2021-08-14T17:07:24.199Z,1628960844.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:24.569Z,1628960844.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:24.569Z,1628960844.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:24.569Z,1628960844.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:24.570Z,1628960844.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:24.981Z,1628960844.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,002C8,186,80,80,9E,FF
2021-08-14T17:07:24.981Z,1628960844.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:24.981Z,1628960844.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:24.983Z,1628960844.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:25.381Z,1628960845.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:25.789Z,1628960845.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,002C4,186,80,80,87,FF
2021-08-14T17:07:25.789Z,1628960845.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:26.221Z,1628960846.221 [Micromodem](INFO): Nmea in: $SNTTA,0.046353,,,,170726.83*49

2021-08-14T17:07:28.327Z,1628960848.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:28.621Z,1628960848.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:28.621Z,1628960848.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:28.621Z,1628960848.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:28.622Z,1628960848.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:29.029Z,1628960849.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,002C4,186,80,80,87,FF
2021-08-14T17:07:29.029Z,1628960849.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:29.030Z,1628960849.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:29.035Z,1628960849.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:29.439Z,1628960849.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:29.829Z,1628960849.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,002C7,186,80,80,7A,FF
2021-08-14T17:07:29.829Z,1628960849.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:30.253Z,1628960850.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170730.89*5D

2021-08-14T17:07:32.694Z,1628960852.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:33.085Z,1628960853.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:33.085Z,1628960853.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:33.085Z,1628960853.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:33.086Z,1628960853.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:33.473Z,1628960853.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,002C7,186,80,80,7A,FF
2021-08-14T17:07:33.473Z,1628960853.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:33.473Z,1628960853.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:33.475Z,1628960853.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:33.875Z,1628960853.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:34.284Z,1628960854.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,002C7,187,80,80,75,FF
2021-08-14T17:07:34.285Z,1628960854.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:34.702Z,1628960854.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170735.32*58

2021-08-14T17:07:37.171Z,1628960857.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:37.476Z,1628960857.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:37.477Z,1628960857.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:37.477Z,1628960857.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:37.478Z,1628960857.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:37.874Z,1628960857.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,002C7,187,80,80,75,FF
2021-08-14T17:07:37.874Z,1628960857.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:37.874Z,1628960857.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:37.892Z,1628960857.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:38.393Z,1628960858.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:38.713Z,1628960858.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,002C5,18A,80,80,70,FF
2021-08-14T17:07:38.714Z,1628960858.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:39.177Z,1628960859.177 [Micromodem](INFO): Nmea in: $SNTTA,0.033351,,,,170739.74*4F

2021-08-14T17:07:41.581Z,1628960861.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:41.941Z,1628960861.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:41.941Z,1628960861.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:41.941Z,1628960861.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:41.942Z,1628960861.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:42.341Z,1628960862.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,002C5,18A,80,80,70,FF
2021-08-14T17:07:42.341Z,1628960862.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:42.342Z,1628960862.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:42.343Z,1628960862.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:42.752Z,1628960862.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:43.223Z,1628960863.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,002C4,186,80,80,A6,FF
2021-08-14T17:07:43.227Z,1628960863.227 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:43.602Z,1628960863.602 [Micromodem](INFO): Nmea in: $SNTTA,,0.102596,,,170744.19*40

2021-08-14T17:07:46.025Z,1628960866.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:46.389Z,1628960866.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:46.389Z,1628960866.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:46.389Z,1628960866.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:46.390Z,1628960866.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:46.757Z,1628960866.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,002C4,186,80,80,A6,FF
2021-08-14T17:07:46.757Z,1628960866.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:46.758Z,1628960866.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:46.759Z,1628960866.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:47.214Z,1628960867.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:47.565Z,1628960867.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,002C4,187,80,80,84,FF
2021-08-14T17:07:47.565Z,1628960867.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:47.996Z,1628960867.996 [Micromodem](INFO): Nmea in: $SNTTA,0.075433,,,,170748.60*4D

2021-08-14T17:07:50.462Z,1628960870.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:50.833Z,1628960870.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:50.833Z,1628960870.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:50.833Z,1628960870.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:50.834Z,1628960870.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:51.239Z,1628960871.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,002C4,187,80,80,84,FF
2021-08-14T17:07:51.239Z,1628960871.239 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:51.239Z,1628960871.239 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:51.241Z,1628960871.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:51.653Z,1628960871.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:52.051Z,1628960872.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,002C4,187,80,80,83,FF
2021-08-14T17:07:52.051Z,1628960872.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:52.498Z,1628960872.498 [Micromodem](INFO): Nmea in: $SNTTA,0.019849,,,,170753.09*43

2021-08-14T17:07:54.883Z,1628960874.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:55.281Z,1628960875.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:55.281Z,1628960875.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:55.281Z,1628960875.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:55.282Z,1628960875.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:07:55.686Z,1628960875.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,002C4,187,80,80,83,FF
2021-08-14T17:07:55.686Z,1628960875.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:07:55.686Z,1628960875.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:07:55.688Z,1628960875.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:07:56.088Z,1628960876.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:07:56.483Z,1628960876.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,002C4,186,80,80,8B,FF
2021-08-14T17:07:56.483Z,1628960876.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:07:56.893Z,1628960876.893 [Micromodem](INFO): Nmea in: $SNTTA,0.031055,,,,170757.53*47

2021-08-14T17:07:59.368Z,1628960879.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:07:59.717Z,1628960879.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:07:59.717Z,1628960879.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:07:59.717Z,1628960879.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:07:59.718Z,1628960879.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:00.121Z,1628960880.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,002C4,186,80,80,8B,FF
2021-08-14T17:08:00.121Z,1628960880.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:00.121Z,1628960880.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:00.123Z,1628960880.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:00.536Z,1628960880.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:00.929Z,1628960880.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,002C3,186,80,80,96,FF
2021-08-14T17:08:00.929Z,1628960880.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:01.358Z,1628960881.358 [Micromodem](INFO): Nmea in: $SNTTA,0.003032,0.437306,,,170801.97*58

2021-08-14T17:08:03.382Z,1628960883.382 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T17:08:03.779Z,1628960883.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:04.161Z,1628960884.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:04.161Z,1628960884.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:04.161Z,1628960884.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:04.162Z,1628960884.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:04.565Z,1628960884.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,002C3,186,80,80,96,FF
2021-08-14T17:08:04.565Z,1628960884.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:04.565Z,1628960884.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:04.567Z,1628960884.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:04.973Z,1628960884.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:05.381Z,1628960885.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B3,000,002C5,189,80,80,8F,FF
2021-08-14T17:08:05.381Z,1628960885.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:05.822Z,1628960885.822 [Micromodem](INFO): Nmea in: $SNTTA,0.026392,,,,170806.41*41

2021-08-14T17:08:08.202Z,1628960888.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:08.765Z,1628960888.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:08.765Z,1628960888.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:08.765Z,1628960888.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:08.766Z,1628960888.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:09.014Z,1628960889.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B3,000,002C5,189,80,80,8F,FF
2021-08-14T17:08:09.014Z,1628960889.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:09.015Z,1628960889.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:09.020Z,1628960889.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:09.430Z,1628960889.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:09.817Z,1628960889.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,002C4,189,80,80,56,FF
2021-08-14T17:08:09.817Z,1628960889.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:10.257Z,1628960890.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170810.87*5E

2021-08-14T17:08:12.666Z,1628960892.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:13.081Z,1628960893.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:13.081Z,1628960893.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:13.081Z,1628960893.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:13.082Z,1628960893.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:13.461Z,1628960893.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,002C4,189,80,80,56,FF
2021-08-14T17:08:13.461Z,1628960893.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:13.461Z,1628960893.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:13.463Z,1628960893.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:13.870Z,1628960893.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:14.269Z,1628960894.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,002C4,186,80,80,9C,FF
2021-08-14T17:08:14.269Z,1628960894.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:14.709Z,1628960894.709 [Micromodem](INFO): Nmea in: $SNTTA,0.005415,,,,170815.31*4D

2021-08-14T17:08:17.133Z,1628960897.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:17.493Z,1628960897.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:17.493Z,1628960897.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:17.493Z,1628960897.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:17.494Z,1628960897.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:17.877Z,1628960897.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,002C4,186,80,80,9C,FF
2021-08-14T17:08:17.877Z,1628960897.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:17.877Z,1628960897.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:17.879Z,1628960897.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:18.281Z,1628960898.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:18.781Z,1628960898.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E3,000,002C4,189,80,80,75,FF
2021-08-14T17:08:18.782Z,1628960898.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:19.160Z,1628960899.160 [Micromodem](INFO): Nmea in: $SNTTA,0.065857,,,,170819.72*4A

2021-08-14T17:08:21.547Z,1628960901.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:21.941Z,1628960901.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:21.941Z,1628960901.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:21.941Z,1628960901.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:21.942Z,1628960901.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:22.345Z,1628960902.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E3,000,002C4,189,80,80,75,FF
2021-08-14T17:08:22.346Z,1628960902.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:22.346Z,1628960902.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:22.347Z,1628960902.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:22.748Z,1628960902.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:23.199Z,1628960903.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,002C4,187,80,80,6E,FF
2021-08-14T17:08:23.200Z,1628960903.200 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:23.207Z,1628960903.207 [Micromodem](INFO): Nmea in: $SNTTA,0.006954,0.327657,,,170824.19*52

2021-08-14T17:08:26.030Z,1628960906.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:26.389Z,1628960906.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:26.389Z,1628960906.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:26.389Z,1628960906.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:26.390Z,1628960906.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:26.789Z,1628960906.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,002C4,187,80,80,6E,FF
2021-08-14T17:08:26.789Z,1628960906.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:26.789Z,1628960906.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:26.791Z,1628960906.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:27.193Z,1628960907.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:27.594Z,1628960907.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,002C4,186,80,80,93,FF
2021-08-14T17:08:27.595Z,1628960907.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:28.002Z,1628960908.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170828.64*58

2021-08-14T17:08:30.469Z,1628960910.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:30.821Z,1628960910.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:30.821Z,1628960910.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:30.821Z,1628960910.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:30.822Z,1628960910.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:31.244Z,1628960911.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,002C4,186,80,80,93,FF
2021-08-14T17:08:31.244Z,1628960911.244 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:31.245Z,1628960911.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:31.246Z,1628960911.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:31.649Z,1628960911.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:32.069Z,1628960912.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,002C4,187,80,80,8D,FF
2021-08-14T17:08:32.069Z,1628960912.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:32.465Z,1628960912.465 [Micromodem](INFO): Nmea in: $SNTTA,0.003046,,,,170833.09*46

2021-08-14T17:08:34.879Z,1628960914.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:35.274Z,1628960915.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:35.274Z,1628960915.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:35.275Z,1628960915.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:35.275Z,1628960915.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:35.676Z,1628960915.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,002C4,187,80,80,8D,FF
2021-08-14T17:08:35.677Z,1628960915.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:35.677Z,1628960915.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:35.678Z,1628960915.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:36.095Z,1628960916.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:36.481Z,1628960916.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,002C4,186,80,80,A3,FF
2021-08-14T17:08:36.482Z,1628960916.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:36.918Z,1628960916.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170837.53*52

2021-08-14T17:08:39.401Z,1628960919.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:39.724Z,1628960919.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:39.725Z,1628960919.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:39.725Z,1628960919.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:39.726Z,1628960919.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:40.121Z,1628960920.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,002C4,186,80,80,A3,FF
2021-08-14T17:08:40.121Z,1628960920.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:40.121Z,1628960920.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:40.123Z,1628960920.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:40.529Z,1628960920.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:40.930Z,1628960920.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,002C8,186,80,80,84,FF
2021-08-14T17:08:40.930Z,1628960920.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:41.337Z,1628960921.337 [Micromodem](INFO): Nmea in: $SNTTA,0.023872,0.400174,,,170841.97*51

2021-08-14T17:08:43.771Z,1628960923.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:44.165Z,1628960924.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:44.165Z,1628960924.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:44.165Z,1628960924.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:44.166Z,1628960924.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:44.561Z,1628960924.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,002C8,186,80,80,84,FF
2021-08-14T17:08:44.561Z,1628960924.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:44.561Z,1628960924.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:44.563Z,1628960924.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:44.981Z,1628960924.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:45.369Z,1628960925.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,002C5,187,80,80,A0,FF
2021-08-14T17:08:45.370Z,1628960925.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:45.373Z,1628960925.373 [Micromodem](INFO): Nmea in: $SNTTA,0.218286,0.218099,,,170846.41*5B

2021-08-14T17:08:48.214Z,1628960928.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:48.569Z,1628960928.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:48.569Z,1628960928.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:48.569Z,1628960928.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:48.570Z,1628960928.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:49.082Z,1628960929.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,002C5,187,80,80,A0,FF
2021-08-14T17:08:49.083Z,1628960929.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:49.083Z,1628960929.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:49.087Z,1628960929.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:49.424Z,1628960929.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:49.821Z,1628960929.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,002C4,186,80,80,96,FF
2021-08-14T17:08:49.821Z,1628960929.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:50.649Z,1628960930.649 [Micromodem](INFO): Nmea in: $SNTTA,0.022746,,,,170850.94*43

2021-08-14T17:08:52.679Z,1628960932.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:53.066Z,1628960933.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:53.066Z,1628960933.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:53.067Z,1628960933.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:53.067Z,1628960933.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:53.449Z,1628960933.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,002C4,186,80,80,96,FF
2021-08-14T17:08:53.449Z,1628960933.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:53.449Z,1628960933.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:53.451Z,1628960933.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:53.861Z,1628960933.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:54.257Z,1628960934.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,002C7,186,80,80,6B,FF
2021-08-14T17:08:54.257Z,1628960934.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:54.702Z,1628960934.702 [Micromodem](INFO): Nmea in: $SNTTA,0.003062,,,,170855.30*4A

2021-08-14T17:08:57.167Z,1628960937.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:08:57.458Z,1628960937.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:08:57.459Z,1628960937.459 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:08:57.459Z,1628960937.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:08:57.462Z,1628960937.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:08:57.893Z,1628960937.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,002C7,186,80,80,6B,FF
2021-08-14T17:08:57.893Z,1628960937.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:08:57.893Z,1628960937.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:08:57.895Z,1628960937.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:08:58.305Z,1628960938.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:08:58.671Z,1628960938.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,002C6,189,80,80,61,FF
2021-08-14T17:08:58.671Z,1628960938.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:08:59.225Z,1628960939.225 [Micromodem](INFO): Nmea in: $SNTTA,0.005390,,,,170859.74*4E

2021-08-14T17:09:01.210Z,1628960941.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:01.533Z,1628960941.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:01.533Z,1628960941.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:01.533Z,1628960941.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:01.534Z,1628960941.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:01.933Z,1628960941.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,002C6,189,80,80,61,FF
2021-08-14T17:09:01.933Z,1628960941.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:01.933Z,1628960941.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:01.935Z,1628960941.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:02.340Z,1628960942.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:02.757Z,1628960942.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,002C7,186,80,80,76,FF
2021-08-14T17:09:02.757Z,1628960942.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:03.206Z,1628960943.206 [Micromodem](INFO): Nmea in: $SNTTA,0.025143,0.492803,,,170903.78*58

2021-08-14T17:09:05.603Z,1628960945.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:05.975Z,1628960945.975 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:05.975Z,1628960945.975 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:05.976Z,1628960945.976 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:05.977Z,1628960945.977 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:06.377Z,1628960946.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,002C7,186,80,80,76,FF
2021-08-14T17:09:06.377Z,1628960946.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:06.377Z,1628960946.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:06.379Z,1628960946.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:06.784Z,1628960946.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:07.197Z,1628960947.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,002C8,186,80,80,7B,FF
2021-08-14T17:09:07.198Z,1628960947.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:07.592Z,1628960947.592 [Micromodem](INFO): Nmea in: $SNTTA,0.005532,,,,170908.23*47

2021-08-14T17:09:10.069Z,1628960950.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:10.417Z,1628960950.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:10.417Z,1628960950.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:10.417Z,1628960950.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:10.418Z,1628960950.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:10.823Z,1628960950.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,002C8,186,80,80,7B,FF
2021-08-14T17:09:10.824Z,1628960950.824 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:10.824Z,1628960950.824 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:10.826Z,1628960950.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:11.240Z,1628960951.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:11.637Z,1628960951.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,002C9,186,80,80,69,FF
2021-08-14T17:09:11.637Z,1628960951.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:14.479Z,1628960954.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:14.865Z,1628960954.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:14.865Z,1628960954.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:14.865Z,1628960954.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:14.866Z,1628960954.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:15.261Z,1628960955.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,002C9,186,80,80,69,FF
2021-08-14T17:09:15.261Z,1628960955.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:15.261Z,1628960955.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:15.263Z,1628960955.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:15.669Z,1628960955.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:16.089Z,1628960956.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,002C8,186,80,80,66,FF
2021-08-14T17:09:16.089Z,1628960956.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:16.517Z,1628960956.517 [Micromodem](INFO): Nmea in: $SNTTA,0.007446,,,,170917.11*48

2021-08-14T17:09:18.899Z,1628960958.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:19.461Z,1628960959.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:19.461Z,1628960959.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:19.461Z,1628960959.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:19.462Z,1628960959.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:19.709Z,1628960959.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,002C8,186,80,80,66,FF
2021-08-14T17:09:19.709Z,1628960959.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:19.709Z,1628960959.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:19.711Z,1628960959.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:20.121Z,1628960960.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:20.526Z,1628960960.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,002C7,186,80,80,6F,FF
2021-08-14T17:09:20.526Z,1628960960.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:20.961Z,1628960960.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170921.56*51

2021-08-14T17:09:23.415Z,1628960963.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:23.758Z,1628960963.758 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:23.758Z,1628960963.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:23.758Z,1628960963.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:23.762Z,1628960963.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:24.161Z,1628960964.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,002C7,186,80,80,6F,FF
2021-08-14T17:09:24.161Z,1628960964.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:24.161Z,1628960964.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:24.163Z,1628960964.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:24.565Z,1628960964.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:24.981Z,1628960964.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,394,000,002C4,189,80,80,53,FF
2021-08-14T17:09:24.981Z,1628960964.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:25.385Z,1628960965.385 [Micromodem](INFO): Nmea in: $SNTTA,0.003044,0.378233,,,170926.01*59

2021-08-14T17:09:27.771Z,1628960967.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:28.213Z,1628960968.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:28.213Z,1628960968.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:28.213Z,1628960968.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:28.214Z,1628960968.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:28.577Z,1628960968.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
394,000,002C4,189,80,80,53,FF
2021-08-14T17:09:28.577Z,1628960968.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:28.578Z,1628960968.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:28.581Z,1628960968.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:28.997Z,1628960968.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:29.477Z,1628960969.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,197,000,002C7,186,80,80,71,FF
2021-08-14T17:09:29.477Z,1628960969.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:29.845Z,1628960969.845 [Micromodem](INFO): Nmea in: $SNTTA,0.005497,,,,170930.43*44

2021-08-14T17:09:32.282Z,1628960972.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:32.641Z,1628960972.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:32.641Z,1628960972.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:32.641Z,1628960972.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:32.642Z,1628960972.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:33.065Z,1628960973.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
197,000,002C7,186,80,80,71,FF
2021-08-14T17:09:33.065Z,1628960973.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:33.066Z,1628960973.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:33.069Z,1628960973.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:33.452Z,1628960973.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:33.859Z,1628960973.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,002C7,186,80,80,6F,FF
2021-08-14T17:09:33.859Z,1628960973.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:34.274Z,1628960974.274 [Micromodem](INFO): Nmea in: $SNTTA,0.086245,,,,170934.92*4E

2021-08-14T17:09:36.690Z,1628960976.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:37.096Z,1628960977.096 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:37.097Z,1628960977.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:37.097Z,1628960977.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:37.099Z,1628960977.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:37.490Z,1628960977.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,002C7,186,80,80,6F,FF
2021-08-14T17:09:37.490Z,1628960977.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:37.490Z,1628960977.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:37.492Z,1628960977.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:37.861Z,1628960977.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:38.300Z,1628960978.300 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,002C9,185,80,80,6C,FF
2021-08-14T17:09:38.304Z,1628960978.304 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:38.705Z,1628960978.705 [Micromodem](INFO): Nmea in: $SNTTA,0.005431,,,,170939.34*41

2021-08-14T17:09:41.184Z,1628960981.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:41.529Z,1628960981.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:41.530Z,1628960981.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:41.530Z,1628960981.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:41.531Z,1628960981.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:41.929Z,1628960981.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,002C9,185,80,80,6C,FF
2021-08-14T17:09:41.929Z,1628960981.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:41.929Z,1628960981.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:41.931Z,1628960981.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:42.337Z,1628960982.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:42.737Z,1628960982.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,002C7,187,80,80,71,FF
2021-08-14T17:09:42.738Z,1628960982.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:43.198Z,1628960983.198 [Micromodem](INFO): Nmea in: $SNTTA,0.024520,,,,170943.78*46

2021-08-14T17:09:45.285Z,1628960985.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:45.574Z,1628960985.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:45.574Z,1628960985.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:45.574Z,1628960985.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:45.575Z,1628960985.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:45.973Z,1628960985.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,002C7,187,80,80,71,FF
2021-08-14T17:09:45.973Z,1628960985.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:45.973Z,1628960985.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:45.975Z,1628960985.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:46.376Z,1628960986.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:46.786Z,1628960986.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,002C9,186,80,80,70,FF
2021-08-14T17:09:46.786Z,1628960986.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:47.217Z,1628960987.217 [Micromodem](INFO): Nmea in: $SNTTA,0.062829,,,,170947.82*41

2021-08-14T17:09:49.690Z,1628960989.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:50.024Z,1628960990.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:50.025Z,1628960990.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:50.025Z,1628960990.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:50.027Z,1628960990.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:50.417Z,1628960990.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,002C9,186,80,80,70,FF
2021-08-14T17:09:50.417Z,1628960990.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:50.418Z,1628960990.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:50.419Z,1628960990.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:50.817Z,1628960990.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:51.241Z,1628960991.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,002C5,187,80,80,73,FF
2021-08-14T17:09:51.241Z,1628960991.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:51.245Z,1628960991.245 [Micromodem](INFO): Nmea in: $SNTTA,0.044878,0.290213,,,170952.27*5F

2021-08-14T17:09:54.131Z,1628960994.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:54.457Z,1628960994.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:54.457Z,1628960994.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:54.457Z,1628960994.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:54.458Z,1628960994.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:54.857Z,1628960994.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,002C5,187,80,80,73,FF
2021-08-14T17:09:54.857Z,1628960994.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:54.857Z,1628960994.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:54.859Z,1628960994.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:55.265Z,1628960995.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:09:55.681Z,1628960995.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,002C4,189,80,80,59,FF
2021-08-14T17:09:55.682Z,1628960995.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:09:56.121Z,1628960996.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170956.71*54

2021-08-14T17:09:58.511Z,1628960998.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:09:58.865Z,1628960998.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:09:58.865Z,1628960998.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:09:58.865Z,1628960998.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:09:58.866Z,1628960998.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:09:59.271Z,1628960999.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,002C4,189,80,80,59,FF
2021-08-14T17:09:59.271Z,1628960999.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:09:59.271Z,1628960999.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:09:59.273Z,1628960999.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:09:59.791Z,1628960999.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:00.113Z,1628961000.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,002C6,187,80,80,69,FF
2021-08-14T17:10:00.114Z,1628961000.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:00.537Z,1628961000.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171001.12*5B

2021-08-14T17:10:02.955Z,1628961002.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:03.346Z,1628961003.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:03.346Z,1628961003.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:03.347Z,1628961003.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:03.358Z,1628961003.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:03.745Z,1628961003.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,002C6,187,80,80,69,FF
2021-08-14T17:10:03.745Z,1628961003.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:03.745Z,1628961003.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:03.747Z,1628961003.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:04.159Z,1628961004.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:04.553Z,1628961004.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,002C8,186,80,80,76,FF
2021-08-14T17:10:04.553Z,1628961004.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:04.993Z,1628961004.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171005.59*50

2021-08-14T17:10:07.449Z,1628961007.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:07.785Z,1628961007.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:07.785Z,1628961007.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:07.785Z,1628961007.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:07.786Z,1628961007.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:08.161Z,1628961008.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,002C8,186,80,80,76,FF
2021-08-14T17:10:08.161Z,1628961008.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:08.161Z,1628961008.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:08.163Z,1628961008.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:08.599Z,1628961008.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:08.969Z,1628961008.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,002C7,187,80,80,68,FF
2021-08-14T17:10:08.970Z,1628961008.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:09.385Z,1628961009.385 [Micromodem](INFO): Nmea in: $SNTTA,0.044946,0.418869,,,171010.01*58

2021-08-14T17:10:11.847Z,1628961011.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:12.229Z,1628961012.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:12.229Z,1628961012.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:12.229Z,1628961012.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:12.230Z,1628961012.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:12.641Z,1628961012.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,002C7,187,80,80,68,FF
2021-08-14T17:10:12.641Z,1628961012.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:12.641Z,1628961012.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:12.643Z,1628961012.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:13.068Z,1628961013.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:13.449Z,1628961013.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,002C9,189,80,80,75,FF
2021-08-14T17:10:13.449Z,1628961013.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:13.882Z,1628961013.882 [Micromodem](INFO): Nmea in: $SNTTA,0.176646,,,,171014.49*4B

2021-08-14T17:10:16.301Z,1628961016.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:16.673Z,1628961016.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:16.673Z,1628961016.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:16.673Z,1628961016.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:16.674Z,1628961016.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:17.093Z,1628961017.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,002C9,189,80,80,75,FF
2021-08-14T17:10:17.093Z,1628961017.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:17.094Z,1628961017.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:17.100Z,1628961017.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:17.485Z,1628961017.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:17.889Z,1628961017.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8F,000,002C9,188,80,80,82,FF
2021-08-14T17:10:17.890Z,1628961017.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:18.295Z,1628961018.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171018.95*5C

2021-08-14T17:10:20.736Z,1628961020.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:21.181Z,1628961021.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:21.181Z,1628961021.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:21.181Z,1628961021.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:21.182Z,1628961021.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:21.521Z,1628961021.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8F,000,002C9,188,80,80,82,FF
2021-08-14T17:10:21.521Z,1628961021.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:21.521Z,1628961021.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:21.523Z,1628961021.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:21.942Z,1628961021.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:22.329Z,1628961022.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,002C8,189,80,80,71,FF
2021-08-14T17:10:22.329Z,1628961022.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:22.774Z,1628961022.774 [Micromodem](INFO): Nmea in: $SNTTA,0.128133,,,,171023.37*48

2021-08-14T17:10:25.255Z,1628961025.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:25.561Z,1628961025.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:25.561Z,1628961025.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:25.562Z,1628961025.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:25.563Z,1628961025.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:25.971Z,1628961025.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,002C8,189,80,80,71,FF
2021-08-14T17:10:25.971Z,1628961025.971 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:25.971Z,1628961025.971 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:25.973Z,1628961025.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:26.372Z,1628961026.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:27.218Z,1628961027.218 [Micromodem](INFO): Nmea in: $SNTTA,,0.470552,,,171027.82*49

2021-08-14T17:10:28.027Z,1628961028.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:29.571Z,1628961029.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,71,FF
2021-08-14T17:10:29.571Z,1628961029.571 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,71,FF
2021-08-14T17:10:29.571Z,1628961029.571 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:10:30.847Z,1628961030.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:31.217Z,1628961031.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:31.217Z,1628961031.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:31.217Z,1628961031.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:31.218Z,1628961031.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:31.625Z,1628961031.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,71,FF
2021-08-14T17:10:31.625Z,1628961031.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:31.626Z,1628961031.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:31.627Z,1628961031.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:32.046Z,1628961032.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:32.425Z,1628961032.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,002C9,18A,80,80,72,FF
2021-08-14T17:10:32.426Z,1628961032.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:32.870Z,1628961032.870 [Micromodem](INFO): Nmea in: $SNTTA,0.042166,,,,171033.48*4C

2021-08-14T17:10:35.331Z,1628961035.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:35.661Z,1628961035.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:35.661Z,1628961035.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:35.661Z,1628961035.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:35.662Z,1628961035.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:36.081Z,1628961036.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,002C9,18A,80,80,72,FF
2021-08-14T17:10:36.081Z,1628961036.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:36.081Z,1628961036.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:36.083Z,1628961036.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:36.472Z,1628961036.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:36.877Z,1628961036.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E12,000,002C8,186,80,80,74,FF
2021-08-14T17:10:36.877Z,1628961036.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:37.309Z,1628961037.309 [Micromodem](INFO): Nmea in: $SNTTA,0.005441,,,,171037.93*4D

2021-08-14T17:10:39.685Z,1628961039.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:40.181Z,1628961040.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:40.181Z,1628961040.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:40.181Z,1628961040.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:40.182Z,1628961040.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:40.517Z,1628961040.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E12,000,002C8,186,80,80,74,FF
2021-08-14T17:10:40.517Z,1628961040.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:40.517Z,1628961040.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:40.519Z,1628961040.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:40.916Z,1628961040.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:41.321Z,1628961041.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE4,000,002C8,188,80,80,68,FF
2021-08-14T17:10:41.321Z,1628961041.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:41.753Z,1628961041.753 [Micromodem](INFO): Nmea in: $SNTTA,,0.199455,,,171042.37*40

2021-08-14T17:10:44.183Z,1628961044.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:44.549Z,1628961044.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:44.549Z,1628961044.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:44.550Z,1628961044.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:44.551Z,1628961044.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:44.953Z,1628961044.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE4,000,002C8,188,80,80,68,FF
2021-08-14T17:10:44.953Z,1628961044.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:44.953Z,1628961044.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:44.955Z,1628961044.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:45.357Z,1628961045.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:45.765Z,1628961045.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,002C7,188,80,80,6E,FF
2021-08-14T17:10:45.766Z,1628961045.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:46.197Z,1628961046.197 [Micromodem](INFO): Nmea in: $SNTTA,0.007385,,,,171046.80*44

2021-08-14T17:10:48.583Z,1628961048.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:48.991Z,1628961048.991 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:48.991Z,1628961048.991 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:48.991Z,1628961048.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:48.992Z,1628961048.992 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:49.366Z,1628961049.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,002C7,188,80,80,6E,FF
2021-08-14T17:10:49.366Z,1628961049.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:49.366Z,1628961049.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:49.368Z,1628961049.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:49.779Z,1628961049.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:50.285Z,1628961050.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,002C9,189,80,80,63,FF
2021-08-14T17:10:50.285Z,1628961050.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:50.625Z,1628961050.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171051.22*5D

2021-08-14T17:10:53.085Z,1628961053.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:53.437Z,1628961053.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:53.437Z,1628961053.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:53.437Z,1628961053.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:53.438Z,1628961053.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:53.845Z,1628961053.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,002C9,189,80,80,63,FF
2021-08-14T17:10:53.845Z,1628961053.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:53.845Z,1628961053.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:53.847Z,1628961053.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:54.261Z,1628961054.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:54.649Z,1628961054.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D55,000,002C9,189,80,80,71,FF
2021-08-14T17:10:54.650Z,1628961054.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:55.117Z,1628961055.117 [Micromodem](INFO): Nmea in: $SNTTA,,0.031977,,,171055.69*43

2021-08-14T17:10:57.526Z,1628961057.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:10:57.881Z,1628961057.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:10:57.881Z,1628961057.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:10:57.881Z,1628961057.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:10:57.882Z,1628961057.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:10:58.297Z,1628961058.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D55,000,002C9,189,80,80,71,FF
2021-08-14T17:10:58.297Z,1628961058.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:10:58.297Z,1628961058.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:10:58.299Z,1628961058.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:10:58.665Z,1628961058.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:10:59.113Z,1628961059.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,002C9,188,80,80,83,FF
2021-08-14T17:10:59.114Z,1628961059.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:10:59.501Z,1628961059.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171100.15*5C

2021-08-14T17:11:01.939Z,1628961061.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:11:02.332Z,1628961062.332 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:11:02.332Z,1628961062.332 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:11:02.333Z,1628961062.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:11:02.333Z,1628961062.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:11:02.725Z,1628961062.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,002C9,188,80,80,83,FF
2021-08-14T17:11:02.726Z,1628961062.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:11:02.726Z,1628961062.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:11:02.727Z,1628961062.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:11:03.169Z,1628961063.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:11:03.542Z,1628961063.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D84,000,002C9,18A,80,80,8A,FF
2021-08-14T17:11:03.542Z,1628961063.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:11:03.977Z,1628961063.977 [Micromodem](INFO): Nmea in: $SNTTA,0.023223,,,,171104.57*42

2021-08-14T17:11:06.389Z,1628961066.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:11:06.774Z,1628961066.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:11:06.774Z,1628961066.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:11:06.774Z,1628961066.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:11:06.775Z,1628961066.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:11:07.201Z,1628961067.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D84,000,002C9,18A,80,80,8A,FF
2021-08-14T17:11:07.201Z,1628961067.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:11:07.201Z,1628961067.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:11:07.203Z,1628961067.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:11:07.578Z,1628961067.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:11:07.994Z,1628961067.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,002C9,188,80,80,8C,FF
2021-08-14T17:11:07.994Z,1628961067.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:11:08.429Z,1628961068.429 [Micromodem](INFO): Nmea in: $SNTTA,0.028213,,,,171109.05*40

2021-08-14T17:11:10.835Z,1628961070.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:11:11.225Z,1628961071.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:11:11.225Z,1628961071.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:11:11.226Z,1628961071.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:11:11.226Z,1628961071.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:11:11.625Z,1628961071.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,002C9,188,80,80,8C,FF
2021-08-14T17:11:11.625Z,1628961071.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:11:11.625Z,1628961071.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:11:11.627Z,1628961071.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:11:12.046Z,1628961072.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:11:12.444Z,1628961072.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5E,000,002C9,18A,80,80,63,FF
2021-08-14T17:11:12.445Z,1628961072.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:11:12.866Z,1628961072.866 [Micromodem](INFO): Nmea in: $SNTTA,0.053349,,,,171113.48*40

2021-08-14T17:11:14.107Z,1628961074.107 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-14T17:06:13.8Z
2021-08-14T17:11:14.108Z,1628961074.108 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-14T17:11:14.108Z,1628961074.108 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-14T17:11:14.108Z,1628961074.108 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T17:11:14.108Z,1628961074.108 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-14T17:11:14.462Z,1628961074.462 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 5.279998 m .
2021-08-14T17:11:14.462Z,1628961074.462 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-14T17:11:14.462Z,1628961074.462 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-14T17:11:14.462Z,1628961074.462 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-14T17:11:14.462Z,1628961074.462 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T17:11:15.225Z,1628961075.225 [PowerOnly](INFO): Powering up loadControl
2021-08-14T17:11:15.309Z,1628961075.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:11:15.637Z,1628961075.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:11:15.637Z,1628961075.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:11:15.638Z,1628961075.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:11:15.638Z,1628961075.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:11:16.154Z,1628961076.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5E,000,002C9,18A,80,80,63,FF
2021-08-14T17:11:16.154Z,1628961076.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:11:16.154Z,1628961076.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:11:16.155Z,1628961076.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:11:16.481Z,1628961076.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:11:16.873Z,1628961076.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D95,000,002C9,188,80,80,91,FF
2021-08-14T17:11:16.873Z,1628961076.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:11:17.697Z,1628961077.697 [Micromodem](INFO): Nmea in: $SNTTA,0.007390,,,,171118.00*42

2021-08-14T17:11:18.161Z,1628961078.161 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-14T17:11:18.529Z,1628961078.529 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T17:11:19.371Z,1628961079.371 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2021-08-14T17:11:19.372Z,1628961079.372 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm.
2021-08-14T17:11:19.735Z,1628961079.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:11:20.101Z,1628961080.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:11:20.101Z,1628961080.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:11:20.101Z,1628961080.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:11:20.102Z,1628961080.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:11:20.518Z,1628961080.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D95,000,002C9,188,80,80,91,FF
2021-08-14T17:11:20.518Z,1628961080.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:11:20.518Z,1628961080.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:11:20.521Z,1628961080.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:11:20.922Z,1628961080.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:11:21.339Z,1628961081.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6F,000,002C8,18A,80,80,65,FF
2021-08-14T17:11:21.339Z,1628961081.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:11:21.750Z,1628961081.750 [Micromodem](INFO): Nmea in: $SNTTA,0.036905,,,,171122.37*4B

2021-08-14T17:11:24.174Z,1628961084.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:11:24.546Z,1628961084.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:11:24.546Z,1628961084.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:11:24.547Z,1628961084.547 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:11:24.564Z,1628961084.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:11:24.953Z,1628961084.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6F,000,002C8,18A,80,80,65,FF
2021-08-14T17:11:24.953Z,1628961084.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:11:24.953Z,1628961084.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:11:24.955Z,1628961084.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:11:25.377Z,1628961085.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:11:25.757Z,1628961085.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,002C3,186,80,80,71,FF
2021-08-14T17:11:25.757Z,1628961085.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:11:26.206Z,1628961086.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171126.80*54

2021-08-14T17:11:26.261Z,1628961086.261 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T17:11:26.261Z,1628961086.261 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:11:26.261Z,1628961086.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T17:11:26.261Z,1628961086.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:11:26.261Z,1628961086.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T17:11:26.262Z,1628961086.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2021-08-14T17:11:26.262Z,1628961086.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T17:11:26.262Z,1628961086.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T17:11:26.262Z,1628961086.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T17:11:26.610Z,1628961086.610 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T171126: (41.552319, -70.708603)
2021-08-14T17:11:26.610Z,1628961086.610 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T17:11:26.610Z,1628961086.610 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T17:11:26.610Z,1628961086.610 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:11:26.610Z,1628961086.610 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T17:11:26.611Z,1628961086.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:11:26.611Z,1628961086.611 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T17:11:26.611Z,1628961086.611 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T17:11:26.611Z,1628961086.611 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:11:28.624Z,1628961088.624 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-14T17:11:28.625Z,1628961088.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:11:28.989Z,1628961088.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:11:28.989Z,1628961088.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:11:28.989Z,1628961088.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:11:28.990Z,1628961088.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:11:29.401Z,1628961089.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,002C3,186,80,80,71,FF
2021-08-14T17:11:29.401Z,1628961089.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:11:29.401Z,1628961089.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:11:29.403Z,1628961089.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:11:29.811Z,1628961089.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:11:30.213Z,1628961090.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,002CB,184,80,80,C9,FF
2021-08-14T17:11:30.213Z,1628961090.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:11:30.649Z,1628961090.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171131.25*5D

2021-08-14T17:11:32.262Z,1628961092.262 [lineCaptureDepth](INFO): Timed out from 2021-08-14T15:11:32.1Z
2021-08-14T17:11:32.263Z,1628961092.263 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-14T17:11:32.263Z,1628961092.263 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-14T17:11:32.263Z,1628961092.263 [lineCaptureDepth] Stopped
2021-08-14T17:11:32.263Z,1628961092.263 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-14T17:11:32.263Z,1628961092.263 [lineCaptureDepth:Science] Stopped
2021-08-14T17:11:32.263Z,1628961092.263 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-14T17:11:32.263Z,1628961092.263 [lineCaptureDepth:Science:B] Stopped
2021-08-14T17:11:32.263Z,1628961092.263 [lineCaptureDepth:Science:C] Stopped
2021-08-14T17:11:32.263Z,1628961092.263 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T17:11:32.264Z,1628961092.264 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:TrackAC.] Stopped
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:Lap] Stopped
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-14T17:11:32.265Z,1628961092.265 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-14T17:11:32.266Z,1628961092.266 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-14T17:11:32.266Z,1628961092.266 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T17:11:32.266Z,1628961092.266 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-14T17:11:32.520Z,1628961092.520 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T17:11:32.623Z,1628961092.623 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-14T17:11:32.623Z,1628961092.623 [DefaultWithUndock] Running Loop=1
2021-08-14T17:11:32.624Z,1628961092.624 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-14T17:11:32.624Z,1628961092.624 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-14T17:11:32.624Z,1628961092.624 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:11:32.925Z,1628961092.925 [WetLabsSeaOWL_UV_A](FAULT): LCB fault:  Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.
2021-08-14T17:11:32.925Z,1628961092.925 [WetLabsSeaOWL_UV_A] Hardware Fault, FailCount= 1
2021-08-14T17:11:32.925Z,1628961092.925 [WetLabsSeaOWL_UV_A](ERROR): Hardware Fault
2021-08-14T17:11:33.141Z,1628961093.141 [CBIT](ERROR): Hardware Fault in component: WetLabsSeaOWL_UV_A
2021-08-14T17:11:33.628Z,1628961093.628 [CBIT](INFO): Clearing failed state for component WetLabsSeaOWL_UV_A
2021-08-14T17:11:33.628Z,1628961093.628 [WetLabsSeaOWL_UV_A] No Fault, FailCount= 1
2021-08-14T17:11:33.733Z,1628961093.733 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T17:11:35.632Z,1628961095.632 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T17:12:02.905Z,1628961122.905 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-14T17:12:02.906Z,1628961122.906 [DefaultWithUndock:A.Wait] Stopped
2021-08-14T17:12:02.906Z,1628961122.906 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:12:02.907Z,1628961122.907 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-14T17:12:02.907Z,1628961122.907 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-14T17:12:02.907Z,1628961122.907 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T17:12:02.907Z,1628961122.907 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-14T17:12:02.909Z,1628961122.909 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-14T17:12:02.910Z,1628961122.910 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-14T17:12:02.910Z,1628961122.910 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T17:12:04.234Z,1628961124.234 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-14T17:12:04.550Z,1628961124.550 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T17:12:05.418Z,1628961125.418 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:05.757Z,1628961125.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:05.757Z,1628961125.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:05.758Z,1628961125.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:05.758Z,1628961125.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:06.185Z,1628961126.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,002CB,184,80,80,C9,FF
2021-08-14T17:12:06.185Z,1628961126.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:06.185Z,1628961126.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:06.187Z,1628961126.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:06.568Z,1628961126.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:06.965Z,1628961126.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,002F0,186,80,80,96,FF
2021-08-14T17:12:06.966Z,1628961126.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:07.397Z,1628961127.397 [Micromodem](INFO): Nmea in: $SNTTA,0.049807,,,,171208.04*4B

2021-08-14T17:12:09.812Z,1628961129.812 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:10.197Z,1628961130.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:10.197Z,1628961130.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:10.197Z,1628961130.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:10.198Z,1628961130.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:10.610Z,1628961130.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,002F0,186,80,80,96,FF
2021-08-14T17:12:10.610Z,1628961130.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:10.610Z,1628961130.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:10.612Z,1628961130.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:11.038Z,1628961131.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:11.409Z,1628961131.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,0030D,186,80,80,C1,FF
2021-08-14T17:12:11.409Z,1628961131.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:11.845Z,1628961131.845 [Micromodem](INFO): Nmea in: $SNTTA,0.031285,,,,171212.46*49

2021-08-14T17:12:14.275Z,1628961134.275 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:14.645Z,1628961134.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:14.645Z,1628961134.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:14.645Z,1628961134.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:14.646Z,1628961134.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:14.667Z,1628961134.667 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-14T17:12:15.100Z,1628961135.100 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,0030D,186,80,80,C1,FF
2021-08-14T17:12:15.100Z,1628961135.100 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:15.101Z,1628961135.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:15.107Z,1628961135.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:15.456Z,1628961135.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:15.853Z,1628961135.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,00305,186,80,80,B9,FF
2021-08-14T17:12:15.853Z,1628961135.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:16.671Z,1628961136.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171216.96*53

2021-08-14T17:12:18.690Z,1628961138.690 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:19.078Z,1628961139.078 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:19.078Z,1628961139.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:19.079Z,1628961139.079 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:19.079Z,1628961139.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:19.490Z,1628961139.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,00305,186,80,80,B9,FF
2021-08-14T17:12:19.490Z,1628961139.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:19.490Z,1628961139.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:19.492Z,1628961139.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:19.893Z,1628961139.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:20.289Z,1628961140.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E48,000,0031A,186,80,80,A1,FF
2021-08-14T17:12:20.290Z,1628961140.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:20.726Z,1628961140.726 [Micromodem](INFO): Nmea in: $SNTTA,0.025042,,,,171221.34*40

2021-08-14T17:12:20.753Z,1628961140.753 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T17:12:23.207Z,1628961143.207 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:23.529Z,1628961143.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:23.529Z,1628961143.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:23.529Z,1628961143.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:23.530Z,1628961143.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:23.933Z,1628961143.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E48,000,0031A,186,80,80,A1,FF
2021-08-14T17:12:23.933Z,1628961143.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:23.933Z,1628961143.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:23.935Z,1628961143.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:24.344Z,1628961144.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:24.737Z,1628961144.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEB,000,00328,188,80,80,A3,FF
2021-08-14T17:12:24.737Z,1628961144.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:25.205Z,1628961145.205 [Micromodem](INFO): Nmea in: $SNTTA,0.049425,,,,171225.78*43

2021-08-14T17:12:27.582Z,1628961147.582 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:27.969Z,1628961147.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:27.969Z,1628961147.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:27.969Z,1628961147.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:27.970Z,1628961147.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:28.373Z,1628961148.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEB,000,00328,188,80,80,A3,FF
2021-08-14T17:12:28.373Z,1628961148.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:28.373Z,1628961148.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:28.375Z,1628961148.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:28.789Z,1628961148.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:29.201Z,1628961149.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00335,189,80,80,B4,FF
2021-08-14T17:12:29.201Z,1628961149.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:29.618Z,1628961149.618 [Micromodem](INFO): Nmea in: $SNTTA,0.104387,,,,171230.22*4F

2021-08-14T17:12:32.067Z,1628961152.067 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:32.413Z,1628961152.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:32.413Z,1628961152.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:32.414Z,1628961152.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:32.414Z,1628961152.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:32.822Z,1628961152.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00335,189,80,80,B4,FF
2021-08-14T17:12:32.822Z,1628961152.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:32.822Z,1628961152.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:32.823Z,1628961152.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:33.233Z,1628961153.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:33.629Z,1628961153.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,00341,189,80,80,C1,FF
2021-08-14T17:12:33.630Z,1628961153.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:34.070Z,1628961154.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171234.68*52

2021-08-14T17:12:36.474Z,1628961156.474 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:36.857Z,1628961156.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:36.857Z,1628961156.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:36.857Z,1628961156.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:36.858Z,1628961156.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:37.265Z,1628961157.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,00341,189,80,80,C1,FF
2021-08-14T17:12:37.265Z,1628961157.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:37.265Z,1628961157.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:37.267Z,1628961157.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:37.677Z,1628961157.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:38.089Z,1628961158.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C68,000,0034A,189,80,80,B6,FF
2021-08-14T17:12:38.089Z,1628961158.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:38.537Z,1628961158.537 [Micromodem](INFO): Nmea in: $SNTTA,0.067540,,,,171239.12*4C

2021-08-14T17:12:40.918Z,1628961160.918 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 13.02 m. Transitioning DDM to standby.
2021-08-14T17:12:40.919Z,1628961160.919 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T17:12:41.301Z,1628961161.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:12:41.301Z,1628961161.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:12:41.301Z,1628961161.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:12:41.302Z,1628961161.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:12:41.705Z,1628961161.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C68,000,0034A,189,80,80,B6,FF
2021-08-14T17:12:41.705Z,1628961161.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:12:41.705Z,1628961161.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:12:41.707Z,1628961161.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:12:42.121Z,1628961162.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:12:42.517Z,1628961162.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFF,000,00357,18A,80,80,A6,FF
2021-08-14T17:12:42.518Z,1628961162.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:12:42.942Z,1628961162.942 [Micromodem](INFO): Nmea in: $SNTTA,0.026854,,,,171243.56*4C

2021-08-14T17:12:43.398Z,1628961163.398 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-14T17:12:43.749Z,1628961163.749 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T17:12:43.749Z,1628961163.749 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-14T17:12:43.750Z,1628961163.750 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-14T17:12:43.750Z,1628961163.750 [DefaultWithUndock:LeaveDock] Stopped
2021-08-14T17:12:43.752Z,1628961163.752 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-14T17:12:43.753Z,1628961163.753 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T17:12:43.754Z,1628961163.754 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T17:12:43.754Z,1628961163.754 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T17:12:43.757Z,1628961163.757 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T17:12:43.758Z,1628961163.758 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T17:12:43.758Z,1628961163.758 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T17:12:44.549Z,1628961164.549 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).
2021-08-14T17:12:44.788Z,1628961164.788 [Radio_Surface](INFO): Powering up
2021-08-14T17:12:46.614Z,1628961166.614 [PowerOnly](INFO): Powering down loadControl
2021-08-14T17:12:50.108Z,1628961170.108 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-14T17:13:14.087Z,1628961194.087 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-14T17:13:14.087Z,1628961194.087 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:13:14.087Z,1628961194.087 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T17:13:14.087Z,1628961194.087 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-14T17:13:14.087Z,1628961194.087 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T17:13:14.087Z,1628961194.087 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-14T17:13:14.087Z,1628961194.087 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-14T17:13:20.232Z,1628961200.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:13:25.748Z,1628961205.748 [NAL9602](INFO): SBD MO Status=0, MOMSN=23899, MT Status=0, MTMSN=0
2021-08-14T17:13:25.748Z,1628961205.748 [NAL9602](INFO): No messages in MT queue
2021-08-14T17:13:26.967Z,1628961206.967 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171327.00,A,4133.16974,N,07042.43423,W,0.797,311.85,140821,,,A*7F
2021-08-14T17:13:26.970Z,1628961206.970 [NAL9602](INFO): GPS fix at 20210814T171327: (41.552829, -70.707237)
2021-08-14T17:13:27.034Z,1628961207.034 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T17:13:27.034Z,1628961207.034 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T17:13:44.253Z,1628961224.253 [NAL9602](INFO): SBD MO Status=1, MOMSN=23900, MT Status=0, MTMSN=0
2021-08-14T17:13:44.304Z,1628961224.304 [NAL9602](INFO): Sent 78 bytes from file Logs/20210814T125729/Courier0051.lzma
2021-08-14T17:13:44.304Z,1628961224.304 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:13:48.787Z,1628961228.787 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T17:13:54.412Z,1628961234.412 [NAL9602](INFO): SBD MO Status=1, MOMSN=23901, MT Status=0, MTMSN=0
2021-08-14T17:13:54.468Z,1628961234.468 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0034.lzma
2021-08-14T17:13:54.468Z,1628961234.468 [NAL9602](INFO): Packets left to send: 3
2021-08-14T17:13:55.373Z,1628961235.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:14:08.576Z,1628961248.576 [NAL9602](INFO): SBD MO Status=1, MOMSN=23902, MT Status=0, MTMSN=0
2021-08-14T17:14:08.628Z,1628961248.628 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0034.lzma
2021-08-14T17:14:08.628Z,1628961248.628 [NAL9602](INFO): Packets left to send: 2
2021-08-14T17:14:19.162Z,1628961259.162 [NAL9602](INFO): SBD MO Status=1, MOMSN=23903, MT Status=0, MTMSN=0
2021-08-14T17:14:19.212Z,1628961259.212 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0034.lzma
2021-08-14T17:14:19.212Z,1628961259.212 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:14:30.520Z,1628961270.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:14:36.376Z,1628961276.376 [NAL9602](INFO): SBD MO Status=1, MOMSN=23904, MT Status=0, MTMSN=0
2021-08-14T17:14:36.436Z,1628961276.436 [NAL9602](INFO): Sent 55 bytes from file Logs/20210814T125729/Express0034.lzma
2021-08-14T17:14:36.436Z,1628961276.436 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:14:47.214Z,1628961287.214 [NAL9602](INFO): SBD MO Status=1, MOMSN=23905, MT Status=0, MTMSN=0
2021-08-14T17:14:47.264Z,1628961287.264 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0040.lzma
2021-08-14T17:14:47.264Z,1628961287.264 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:14:53.182Z,1628961293.182 [NAL9602](INFO): SBD MO Status=1, MOMSN=23906, MT Status=0, MTMSN=0
2021-08-14T17:14:53.232Z,1628961293.232 [NAL9602](INFO): Sent 3 bytes from file Logs/20210814T125729/Express0040.lzma
2021-08-14T17:14:53.232Z,1628961293.232 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:15:03.737Z,1628961303.737 [NAL9602](INFO): SBD MO Status=1, MOMSN=23907, MT Status=0, MTMSN=0
2021-08-14T17:15:03.796Z,1628961303.796 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0043.lzma
2021-08-14T17:15:03.796Z,1628961303.796 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:15:05.696Z,1628961305.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:15:11.810Z,1628961311.810 [NAL9602](INFO): SBD MO Status=1, MOMSN=23908, MT Status=0, MTMSN=0
2021-08-14T17:15:11.860Z,1628961311.860 [NAL9602](INFO): Sent 79 bytes from file Logs/20210814T125729/Express0043.lzma
2021-08-14T17:15:11.860Z,1628961311.860 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:15:20.998Z,1628961320.998 [NAL9602](INFO): SBD MO Status=1, MOMSN=23909, MT Status=0, MTMSN=0
2021-08-14T17:15:21.061Z,1628961321.061 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0046.lzma
2021-08-14T17:15:21.062Z,1628961321.062 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:15:30.760Z,1628961330.760 [NAL9602](INFO): SBD MO Status=1, MOMSN=23910, MT Status=0, MTMSN=0
2021-08-14T17:15:30.805Z,1628961330.805 [NAL9602](INFO): Sent 72 bytes from file Logs/20210814T125729/Express0046.lzma
2021-08-14T17:15:30.805Z,1628961330.805 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:15:40.844Z,1628961340.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:15:42.464Z,1628961342.464 [NAL9602](INFO): SBD MO Status=1, MOMSN=23911, MT Status=0, MTMSN=0
2021-08-14T17:15:42.521Z,1628961342.521 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0049.lzma
2021-08-14T17:15:42.521Z,1628961342.521 [NAL9602](INFO): Packets left to send: 3
2021-08-14T17:15:54.933Z,1628961354.933 [NAL9602](INFO): SBD MO Status=1, MOMSN=23912, MT Status=0, MTMSN=0
2021-08-14T17:15:55.002Z,1628961355.002 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0049.lzma
2021-08-14T17:15:55.002Z,1628961355.002 [NAL9602](INFO): Packets left to send: 2
2021-08-14T17:16:04.656Z,1628961364.656 [NAL9602](INFO): SBD MO Status=1, MOMSN=23913, MT Status=0, MTMSN=0
2021-08-14T17:16:04.704Z,1628961364.704 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T125729/Express0049.lzma
2021-08-14T17:16:04.704Z,1628961364.704 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:16:11.972Z,1628961371.972 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003184
2021-08-14T17:16:15.330Z,1628961375.330 [NAL9602](INFO): SBD MO Status=1, MOMSN=23914, MT Status=0, MTMSN=0
2021-08-14T17:16:15.380Z,1628961375.380 [NAL9602](INFO): Sent 43 bytes from file Logs/20210814T125729/Express0049.lzma
2021-08-14T17:16:15.380Z,1628961375.380 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:16:15.419Z,1628961375.419 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:16:22.020Z,1628961382.020 [DataOverHttps](INFO): Sending 414 bytes from file Logs/20210814T125729/Express0052.lzma
2021-08-14T17:16:23.018Z,1628961383.018 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Express0052.lzma.bak
2021-08-14T17:16:23.018Z,1628961383.018 [DataOverHttps](INFO): SBD MOMSN=438082
2021-08-14T17:16:24.631Z,1628961384.631 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T17:16:24.632Z,1628961384.632 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T17:16:24.632Z,1628961384.632 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:16:46.053Z,1628961406.053 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T17:18:06.460Z,1628961486.460 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2021-08-14T17:18:06.464Z,1628961486.464 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.274658
2021-08-14T17:18:21.524Z,1628961501.524 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003138
2021-08-14T17:18:51.649Z,1628961531.649 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T171852
2021-08-14T17:18:56.672Z,1628961536.672 [DataOverHttps](INFO): Received command:restart logs